Maneuver::CommsRelay::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onManeuverDeactivation (void)
void	onUpdateParameters (void)
void	consume (const IMC::CommsRelay *maneuver)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::Announce *msg)
void	onPathControlState (const IMC::PathControlState *pcs)
void	step (void)
bool	updatePosition (uint16_t system, double lat, double lon)
void	updateDesiredPath ()
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::CommsRelay	m_maneuver
IMC::DesiredPath	m_path
CRMODE	m_mode
double	m_lat_a
double	m_lat_b
double	m_lon_a
double	m_lon_b
double	m_cur_lat
double	m_cur_lon
double	m_lat_center
double	m_lon_center
double	m_start_time
uint32_t	m_control
bool	m_near
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::CommsRelay::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Maneuver::CommsRelay::Arguments::loitering_radius, m_args, m_control, m_cur_lat, m_cur_lon, m_lat_a, m_lat_b, m_lat_center, m_lon_a, m_lon_b, m_lon_center, m_mode, m_near, m_start_time, Maneuver::CommsRelay::STOP, Maneuver::CommsRelay::Arguments::z, and Maneuver::CommsRelay::Arguments::z_mode.

Member Function Documentation

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

inline

References Maneuver::CommsRelay::GOING, m_control, m_lat_a, m_lat_b, m_lat_center, m_lon_a, m_lon_b, m_lon_center, m_maneuver, m_mode, m_path, m_start_time, and updateDesiredPath().

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

inline

References m_cur_lat, m_cur_lon, and updatePosition().

void Maneuver::CommsRelay::Task::consume ( const IMC::Announce *  msg )

inline

References updatePosition().

void Maneuver::CommsRelay::Task::onManeuverDeactivation ( void  )

inline

References m_mode, and Maneuver::CommsRelay::STOP.

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

inline

References m_maneuver, m_near, m_start_time, and step().

void Maneuver::CommsRelay::Task::onUpdateParameters ( void  )

inline

References m_args, m_control, and Maneuver::CommsRelay::Arguments::z_mode.

void Maneuver::CommsRelay::Task::step ( void  )

inline

References Maneuver::CommsRelay::GOING, Maneuver::CommsRelay::LOITER, Maneuver::CommsRelay::Arguments::loitering_radius, m_args, m_control, m_cur_lat, m_cur_lon, m_lat_center, m_lon_center, m_maneuver, m_mode, m_near, m_path, Maneuver::CommsRelay::STOP, and updateDesiredPath().

Referenced by onPathControlState(), and updatePosition().

void Maneuver::CommsRelay::Task::updateDesiredPath ( )

inline

Method used to update (but not send) the desired path.

References Maneuver::CommsRelay::Arguments::loitering_radius, m_args, m_cur_lat, m_cur_lon, m_lat_center, m_lon_center, m_maneuver, m_path, Maneuver::CommsRelay::Arguments::z, and Maneuver::CommsRelay::Arguments::z_mode.

Referenced by consume(), step(), and updatePosition().

bool Maneuver::CommsRelay::Task::updatePosition ( uint16_t  system, double  lat, double  lon  )

inline

Update position of a system given its coordinates.

References Maneuver::CommsRelay::GOING, m_lat_a, m_lat_b, m_lat_center, m_lon_a, m_lon_b, m_lon_center, m_maneuver, m_mode, m_path, step(), and updateDesiredPath().

Referenced by consume().

Member Data Documentation

Arguments Maneuver::CommsRelay::Task::m_args

Referenced by onUpdateParameters(), step(), Task(), and updateDesiredPath().

uint32_t Maneuver::CommsRelay::Task::m_control

Referenced by consume(), onUpdateParameters(), step(), and Task().

double Maneuver::CommsRelay::Task::m_cur_lat

Referenced by consume(), step(), Task(), and updateDesiredPath().

double Maneuver::CommsRelay::Task::m_cur_lon

Referenced by consume(), step(), Task(), and updateDesiredPath().

double Maneuver::CommsRelay::Task::m_lat_a

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

double Maneuver::CommsRelay::Task::m_lat_b

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

double Maneuver::CommsRelay::Task::m_lat_center

Referenced by consume(), step(), Task(), updateDesiredPath(), and updatePosition().

double Maneuver::CommsRelay::Task::m_lon_a

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

double Maneuver::CommsRelay::Task::m_lon_b

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

double Maneuver::CommsRelay::Task::m_lon_center

Referenced by consume(), step(), Task(), updateDesiredPath(), and updatePosition().

IMC::CommsRelay Maneuver::CommsRelay::Task::m_maneuver

Referenced by consume(), onPathControlState(), step(), updateDesiredPath(), and updatePosition().

CRMODE Maneuver::CommsRelay::Task::m_mode

Referenced by consume(), onManeuverDeactivation(), step(), Task(), and updatePosition().

bool Maneuver::CommsRelay::Task::m_near

Referenced by onPathControlState(), step(), and Task().

IMC::DesiredPath Maneuver::CommsRelay::Task::m_path

Referenced by consume(), step(), updateDesiredPath(), and updatePosition().

double Maneuver::CommsRelay::Task::m_start_time

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

Collaboration diagram for Maneuver::CommsRelay::Task: