DUNE: Uniform Navigational Environment  2017.01.0
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)
 
unsigned getPriority (void)
 
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 >
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 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)
 
unsigned getPriorityImpl (void)
 
- Protected Attributes inherited from DUNE::Tasks::Task
Contextm_ctx
 
std::vector
< Entities::BasicEntity * > 
m_entities
 

Constructor & Destructor Documentation

Member Function Documentation

void Autonomy::TREX::Task::consume ( const IMC::Heartbeat *  msg)
inline
void Autonomy::TREX::Task::consume ( const IMC::Announce *  msg)
inline
void Autonomy::TREX::Task::consume ( const IMC::VehicleState *  msg)
inline
void Autonomy::TREX::Task::consume ( const IMC::PlanControlState *  msg)
inline
void Autonomy::TREX::Task::consume ( const IMC::Abort *  msg)
inline
void Autonomy::TREX::Task::consume ( const IMC::PlanControl *  msg)
inline
void Autonomy::TREX::Task::onActivation ( void  )
inlinevirtual
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::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
void Autonomy::TREX::Task::stopExecution ( void  )
inline
void Autonomy::TREX::Task::updateEntityState ( void  )
inline

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
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:
Collaboration graph