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

void	consume (const IMC::FollowReference *msg)

void	consume (const IMC::Reference *msg)

void	consume (const IMC::EstimatedState *msg)

void	onPathControlState (const IMC::PathControlState *pcs)

bool	sameReference (const IMC::Reference msg1, const IMC::Reference msg2)

IMC::SpeedUnits	parseSpeedUnitsStr (std::string sunits_str)

void	processDesiredPath (void)

void	enableMovement (bool enable)

void	updateEndLoc (void)

void	updateSpeed (void)

void	updateRadius (void)

void	updateEndZ (void)

int	initializeEndZ (void)

void	updateCoordinates (void)

void	dispatchDesiredPath (void)

void	updateFollowRefStateFlags (void)

void	checkTimeout (void)

bool	offlineOrWaiting (void)

void	onDeactivation (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
IMC::FollowReference	m_spec

IMC::Reference	m_cur_ref

double	m_last_ref_time

IMC::EstimatedState	m_estate

IMC::PathControlState	m_pcs

IMC::FollowRefState	m_fref_state

IMC::DesiredPath	m_desired_path

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

Constructor & Destructor Documentation

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

inline

References Maneuver::FollowReference::UAV::Arguments::default_speed, Maneuver::FollowReference::UAV::Arguments::default_speed_units, Maneuver::FollowReference::UAV::Arguments::default_z, Maneuver::FollowReference::UAV::Arguments::loitering_radius, m_args, and m_last_ref_time.

Member Function Documentation

void Maneuver::FollowReference::UAV::Task::checkTimeout ( void )

inline

Check timeout.

References m_fref_state, m_last_ref_time, and m_spec.

Referenced by consume().

void Maneuver::FollowReference::UAV::Task::consume ( const IMC::FollowReference * msg )

inline

References Maneuver::FollowReference::UAV::Arguments::loitering_radius, m_args, m_cur_ref, m_estate, m_fref_state, m_last_ref_time, and m_spec.

void Maneuver::FollowReference::UAV::Task::consume ( const IMC::Reference * msg )

inline

References m_cur_ref, m_fref_state, m_last_ref_time, m_spec, processDesiredPath(), and sameReference().

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

inline

References checkTimeout(), and m_estate.

void Maneuver::FollowReference::UAV::Task::dispatchDesiredPath ( void )

inline

Dispatch desired path message.

References enableMovement(), m_desired_path, and m_fref_state.

Referenced by processDesiredPath().

void Maneuver::FollowReference::UAV::Task::enableMovement ( bool enable )

inline

Function for enabling and disabling the control loops.

Referenced by dispatchDesiredPath().

int Maneuver::FollowReference::UAV::Task::initializeEndZ ( void )

inline

Initialize end z.

Returns: desired height.

References Maneuver::FollowReference::UAV::Arguments::default_z, m_args, and m_estate.

Referenced by updateEndZ().

bool Maneuver::FollowReference::UAV::Task::offlineOrWaiting ( void )

inline

Check if follow reference state has either timed out or is waiting.

Returns: true if timed out or waiting, false otherwise.

References m_fref_state.

Referenced by updateFollowRefStateFlags().

void Maneuver::FollowReference::UAV::Task::onDeactivation ( void )

inline

References m_fref_state.

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

inline

References m_fref_state, m_pcs, and updateFollowRefStateFlags().

IMC::SpeedUnits Maneuver::FollowReference::UAV::Task::parseSpeedUnitsStr ( std::string sunits_str )

inline

Parse speed units string.

Parameters

[in] sunits_str speed units string.

Returns: desired speed units.

Referenced by updateSpeed().

void Maneuver::FollowReference::UAV::Task::processDesiredPath ( void )

inline

Generate and dispatch a DesiredPath based on the received reference.

References dispatchDesiredPath(), m_cur_ref, updateCoordinates(), updateEndLoc(), updateEndZ(), updateRadius(), and updateSpeed().

Referenced by consume().

bool Maneuver::FollowReference::UAV::Task::sameReference	(	const IMC::Reference *	msg1,
		const IMC::Reference *	msg2
	)

inline

Check if references are equal.

Parameters

[in]	msg1	reference message.
[in]	msg2	reference message.

Returns: true if references are equal, false otherwise.

Referenced by consume().

void Maneuver::FollowReference::UAV::Task::updateCoordinates ( void )

inline

Update desired path's coordinates.

References m_cur_ref, and m_desired_path.

Referenced by processDesiredPath().

void Maneuver::FollowReference::UAV::Task::updateEndLoc ( void )

inline

Update desired path's end location.

References m_cur_ref, and m_desired_path.

Referenced by processDesiredPath().

void Maneuver::FollowReference::UAV::Task::updateEndZ ( void )

inline

Update desired path's end z.

References initializeEndZ(), m_cur_ref, and m_desired_path.

Referenced by processDesiredPath().

void Maneuver::FollowReference::UAV::Task::updateFollowRefStateFlags ( void )

inline

Update follow reference state flags.

References m_fref_state, m_pcs, and offlineOrWaiting().

Referenced by onPathControlState().

void Maneuver::FollowReference::UAV::Task::updateRadius ( void )

inline

Update desired path's radius.

References Maneuver::FollowReference::UAV::Arguments::loitering_radius, m_args, m_cur_ref, and m_desired_path.

Referenced by processDesiredPath().

void Maneuver::FollowReference::UAV::Task::updateSpeed ( void )

inline

Update desired path's speed.

References Maneuver::FollowReference::UAV::Arguments::default_speed, Maneuver::FollowReference::UAV::Arguments::default_speed_units, m_args, m_cur_ref, m_desired_path, and parseSpeedUnitsStr().

Referenced by processDesiredPath().

Member Data Documentation

Arguments Maneuver::FollowReference::UAV::Task::m_args

Task arguments.

Referenced by consume(), initializeEndZ(), Task(), updateRadius(), and updateSpeed().

IMC::Reference Maneuver::FollowReference::UAV::Task::m_cur_ref

Store latest received reference and the one before that.

Referenced by consume(), processDesiredPath(), updateCoordinates(), updateEndLoc(), updateEndZ(), updateRadius(), and updateSpeed().

IMC::DesiredPath Maneuver::FollowReference::UAV::Task::m_desired_path

Desired path message.

Referenced by dispatchDesiredPath(), updateCoordinates(), updateEndLoc(), updateEndZ(), updateRadius(), and updateSpeed().

IMC::EstimatedState Maneuver::FollowReference::UAV::Task::m_estate

Estimated state.

Referenced by consume(), and initializeEndZ().

IMC::FollowRefState Maneuver::FollowReference::UAV::Task::m_fref_state

Follow Reference state.

Referenced by checkTimeout(), consume(), dispatchDesiredPath(), offlineOrWaiting(), onDeactivation(), onPathControlState(), and updateFollowRefStateFlags().

double Maneuver::FollowReference::UAV::Task::m_last_ref_time

Store last timestamp when reference was received.

Referenced by checkTimeout(), consume(), and Task().

IMC::PathControlState Maneuver::FollowReference::UAV::Task::m_pcs

Path Control state.

Referenced by onPathControlState(), and updateFollowRefStateFlags().

IMC::FollowReference Maneuver::FollowReference::UAV::Task::m_spec

Store maneuver specification.

Referenced by checkTimeout(), and consume().

Collaboration diagram for Maneuver::FollowReference::UAV::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation