DUNE: Uniform Navigational Environment  2017.01.0
Control::ROV::RemoteOperation::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onEntityResolution (void)
 
void onEntityReservation (void)
 
void onResourceInitialization (void)
 
void onResourceRelease (void)
 
void onResourceAcquisition (void)
 
void onActivation (void)
 
void onDeactivation (void)
 
void onUpdateParameters (void)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::Distance *msg)
 
void toggleWallTracker (void)
 
void forwardControl (int value)
 
void rotateControl (int value)
 
void onRemoteActions (const IMC::RemoteActions *msg)
 
void onConnectionTimeout (void)
 
void actuateThruster (unsigned i)
 
void actuate (void)
 
- Public Member Functions inherited from DUNE::Control::BasicRemoteOperation
 BasicRemoteOperation (const std::string &name, Tasks::Context &ctx)
 
virtual ~BasicRemoteOperation (void)
 
void consume (const IMC::RemoteActions *message)
 
void consume (const IMC::RemoteActionsRequest *message)
 
void consume (const IMC::ControlLoops *message)
 
void consume (const IMC::Teleoperation *message)
 
- Public Member Functions inherited from DUNE::Tasks::Periodic
 Periodic (const std::string &name, Context &ctx)
 
virtual ~Periodic (void)
 
void setFrequency (double freq)
 
double getFrequency (void) const
 
double getRunTime (void) const
 
unsigned getRunCount (void) const
 
- 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

Matrix m_thruster
 
Matrix m_forces
 
IMC::DesiredVelocity m_dvel
 
float m_start_depth
 
float m_start_heading
 
float m_depth
 
float m_h_ref
 
bool m_dh_data
 
DistanceTrackingm_dt
 
float m_wdist_desired
 
bool m_wt_enabled
 
Time::Counter< float > m_wt_counter
 
MovingAverage< float > * m_wdist_mav
 
unsigned m_wdist_ent
 
unsigned m_filt_wdist_ent
 
unsigned m_wdist_des_ent
 
Arguments m_args
 

Additional Inherited Members

- Public Types inherited from DUNE::Concurrency::Runnable
enum  State {
  StateStarting, StateRunning, StateStopping, StateDead,
  StateUnknown
}
 
- Protected Member Functions inherited from DUNE::Control::BasicRemoteOperation
void addActionButton (const std::string &action)
 
void addActionAxis (const std::string &action)
 
void setConnectionTimeout (const float tout)
 
virtual void onConnectionResumed (void)
 
void enableControlLoops (uint32_t mask)
 
void disableControlLoops (uint32_t mask)
 
- 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 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)
 
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 Control::ROV::RemoteOperation::Task::actuateThruster ( unsigned  i)
inline
void Control::ROV::RemoteOperation::Task::onDeactivation ( void  )
inlinevirtual

Called when the task stops normal execution and enters an idleness state.

Reimplemented from DUNE::Tasks::Task.

References actuate(), Control::ROV::RemoteOperation::Arguments::dh_control, DUNE::Control::BasicRemoteOperation::disableControlLoops(), DUNE::Math::Matrix::fill(), m_args, and m_thruster.

void Control::ROV::RemoteOperation::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::RemoteOperation::Arguments::filt_wdist_label, m_args, m_filt_wdist_ent, m_wdist_des_ent, DUNE::Tasks::Task::reserveEntity(), and Control::ROV::RemoteOperation::Arguments::wdist_des_label.

void Control::ROV::RemoteOperation::Task::onEntityResolution ( void  )
inlinevirtual

Called when the task is instructed to resolve all the entity identifiers it needs for normal execution.

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_wdist_ent, DUNE::Tasks::Task::resolveEntity(), and Control::ROV::RemoteOperation::Arguments::wdist_label.

void Control::ROV::RemoteOperation::Task::onResourceAcquisition ( void  )
inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_wdist_mav, and Control::ROV::RemoteOperation::Arguments::wdist_mav_size.

void Control::ROV::RemoteOperation::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::BasicRemoteOperation.

References m_wt_counter, DUNE::Control::BasicRemoteOperation::onResourceInitialization(), and DUNE::Time::Counter< T >::setTop().

void Control::ROV::RemoteOperation::Task::onResourceRelease ( void  )
inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Memory::clear(), m_dt, and m_wdist_mav.

void Control::ROV::RemoteOperation::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 Control::ROV::RemoteOperation::Arguments::heading_rate, m_args, and DUNE::Tasks::Task::paramChanged().

void Control::ROV::RemoteOperation::Task::rotateControl ( int  value)
inline

Member Data Documentation

float Control::ROV::RemoteOperation::Task::m_depth

Current vehicle depth.

Referenced by actuate(), onActivation(), onConnectionTimeout(), and onRemoteActions().

bool Control::ROV::RemoteOperation::Task::m_dh_data

Flag is true if we have depth and heading data.

Referenced by actuate(), and consume().

DistanceTracking* Control::ROV::RemoteOperation::Task::m_dt

Distance tracking algorithm.

Referenced by consume(), forwardControl(), onResourceRelease(), and toggleWallTracker().

IMC::DesiredVelocity Control::ROV::RemoteOperation::Task::m_dvel

Desired Velocity message.

unsigned Control::ROV::RemoteOperation::Task::m_filt_wdist_ent

Filtered distance to wall source entity.

Referenced by consume(), and onEntityReservation().

Matrix Control::ROV::RemoteOperation::Task::m_forces

Vector of forces to apply.

Referenced by actuate(), consume(), forwardControl(), and onRemoteActions().

float Control::ROV::RemoteOperation::Task::m_h_ref

Current heading or heading rate reference.

Referenced by actuate(), onActivation(), onConnectionTimeout(), onRemoteActions(), and rotateControl().

float Control::ROV::RemoteOperation::Task::m_start_depth

Starting depth.

Referenced by consume(), onActivation(), onConnectionTimeout(), and onRemoteActions().

float Control::ROV::RemoteOperation::Task::m_start_heading

Starting heading.

Referenced by consume(), onActivation(), onConnectionTimeout(), and onRemoteActions().

Matrix Control::ROV::RemoteOperation::Task::m_thruster

Thruster actuation vector.

Referenced by actuate(), actuateThruster(), onActivation(), onConnectionTimeout(), and onDeactivation().

unsigned Control::ROV::RemoteOperation::Task::m_wdist_des_ent

Desired distance to wall source entity.

Referenced by forwardControl(), and onEntityReservation().

float Control::ROV::RemoteOperation::Task::m_wdist_desired

Desired distance to wall.

Referenced by consume(), forwardControl(), and toggleWallTracker().

unsigned Control::ROV::RemoteOperation::Task::m_wdist_ent

Distance to wall source entity.

Referenced by consume(), and onEntityResolution().

MovingAverage<float>* Control::ROV::RemoteOperation::Task::m_wdist_mav

Moving average for the distance to wall.

Referenced by consume(), onResourceAcquisition(), and onResourceRelease().

Time::Counter<float> Control::ROV::RemoteOperation::Task::m_wt_counter

Wall tracking enabled counter.

Referenced by onResourceInitialization(), and toggleWallTracker().

bool Control::ROV::RemoteOperation::Task::m_wt_enabled

Wall tracking enabled.

Referenced by consume(), forwardControl(), and toggleWallTracker().

Collaboration diagram for Control::ROV::RemoteOperation::Task:
Collaboration graph