DUNE: Uniform Navigational Environment  2019.02.1
Supervisors::AUV::Assist::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void onResourceAcquisition (void)
 
void onResourceRelease (void)
 
void onResourceInitialization (void)
 
void consume (const IMC::GpsFix *msg)
 
void consume (const IMC::Heartbeat *msg)
 
void consume (const IMC::VehicleMedium *msg)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::PlanGeneration *msg)
 
void consume (const IMC::PlanControl *msg)
 
void consume (const IMC::Rpm *msg)
 
void checkDislodgeResult (const IMC::PlanControl *msg)
 
void getFinishDepth (const IMC::PlanControl *msg)
 
void failedStartPlan (void)
 
void dispatchDislodge (void)
 
bool mainConditions (void)
 
bool ascentCondition (void)
 
void setState (AssistState state)
 
void onIdle (void)
 
void onCheckStuck (void)
 
void onStartDislodge (void)
 
void task (void)
 
- 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

float m_vz
 
float m_depth
 
uint8_t m_medium
 
VerticalMonitor * m_vmon
 
AssistState m_astate
 
Time::Counter< float > m_dtimer
 
Time::Counter< float > m_ltimer
 
float m_finish_depth
 
bool m_gps
 
bool m_first_fix
 
float m_dislodge_rpm
 
bool m_motor
 
Arguments m_args
 

Additional Inherited Members

- Public Types inherited from DUNE::Concurrency::Runnable
- 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)
 
Entities::BasicEntitygetLocalEntity (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 onEntityReservation (void)
 
virtual void onEntityResolution (void)
 
virtual void onReportEntityState (void)
 
virtual void onRequestActivation (void)
 
virtual void onRequestDeactivation (void)
 
virtual void onActivation (void)
 
virtual void onDeactivation (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

bool Supervisors::AUV::Assist::Task::ascentCondition ( void  )
inline

Test if the ascent rate condition hold.

Returns
true if condition holds, false otherwise
void Supervisors::AUV::Assist::Task::checkDislodgeResult ( const IMC::PlanControl *  msg)
inline

Check if the received PlanControl message reports to a successful Dislodge plan request.

Parameters
[in]msgpointer to PlanControl message

References Supervisors::AUV::Assist::Arguments::plan_id, Supervisors::AUV::Assist::ST_CHECK_STUCK, and Supervisors::AUV::Assist::ST_IDLE.

void Supervisors::AUV::Assist::Task::consume ( const IMC::GpsFix *  msg)
inline
void Supervisors::AUV::Assist::Task::consume ( const IMC::Heartbeat *  msg)
inline
void Supervisors::AUV::Assist::Task::consume ( const IMC::VehicleMedium *  msg)
inline
void Supervisors::AUV::Assist::Task::consume ( const IMC::EstimatedState *  msg)
inline
void Supervisors::AUV::Assist::Task::consume ( const IMC::PlanGeneration *  msg)
inline
void Supervisors::AUV::Assist::Task::consume ( const IMC::Rpm *  msg)
inline
void Supervisors::AUV::Assist::Task::dispatchDislodge ( void  )
inline

Dispatch the dislodge plan.

References Supervisors::AUV::Assist::Arguments::plan_id.

void Supervisors::AUV::Assist::Task::failedStartPlan ( void  )
inline

Signal that the start of the dislodge plan has failed.

References Supervisors::AUV::Assist::Arguments::plan_id.

void Supervisors::AUV::Assist::Task::getFinishDepth ( const IMC::PlanControl *  msg)
inline

Check if the received PlanControl message reports to a plan that has just finished.

If so, save the depth at which the plan ended

Parameters
[in]msgpointer to PlanControl message
bool Supervisors::AUV::Assist::Task::mainConditions ( void  )
inline

Test the main conditions to consider throwing a dislodge plan.

Returns
true if the conditions hold, false otherwise

References Supervisors::AUV::Assist::Arguments::depth_threshold.

void Supervisors::AUV::Assist::Task::onCheckStuck ( void  )
inline

Routine to run when on checkstuck state.

References Supervisors::AUV::Assist::ST_IDLE, and Supervisors::AUV::Assist::ST_START_DISLODGE.

void Supervisors::AUV::Assist::Task::onIdle ( void  )
inline

Routine to run when on idle state.

References Supervisors::AUV::Assist::ST_CHECK_STUCK.

void Supervisors::AUV::Assist::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 Supervisors::AUV::Assist::Arguments::min_ascent_rate.

void Supervisors::AUV::Assist::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::Tasks::Task.

void Supervisors::AUV::Assist::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.

void Supervisors::AUV::Assist::Task::onStartDislodge ( void  )
inline

Routine to run when on startdislodge state.

References Supervisors::AUV::Assist::ST_CHECK_STUCK.

void Supervisors::AUV::Assist::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 Supervisors::AUV::Assist::Arguments::trigger_time.

void Supervisors::AUV::Assist::Task::setState ( AssistState  state)
inline

Set the state machine's current state.

Parameters
[in]statetarget state to which the machine should transition

References Supervisors::AUV::Assist::ST_CHECK_STUCK, Supervisors::AUV::Assist::ST_IDLE, Supervisors::AUV::Assist::ST_START_DISLODGE, and Supervisors::AUV::Assist::Arguments::trigger_time.

void Supervisors::AUV::Assist::Task::task ( void  )
inlinevirtual

Member Data Documentation

Arguments Supervisors::AUV::Assist::Task::m_args

Task arguments.

AssistState Supervisors::AUV::Assist::Task::m_astate

Task's state.

float Supervisors::AUV::Assist::Task::m_depth

Current depth.

float Supervisors::AUV::Assist::Task::m_dislodge_rpm

RPM value for dislodging the vehicle.

Time::Counter<float> Supervisors::AUV::Assist::Task::m_dtimer

Timer for triggering the dislodge.

float Supervisors::AUV::Assist::Task::m_finish_depth

Finish depth of the running plan.

bool Supervisors::AUV::Assist::Task::m_first_fix

Requires a valid initial GPS fix.

bool Supervisors::AUV::Assist::Task::m_gps

Valid GPS signal.

Time::Counter<float> Supervisors::AUV::Assist::Task::m_ltimer

Lost communications timer.

uint8_t Supervisors::AUV::Assist::Task::m_medium

Current Medium.

bool Supervisors::AUV::Assist::Task::m_motor

Current motor status.

VerticalMonitor* Supervisors::AUV::Assist::Task::m_vmon

Rate of ascent.

float Supervisors::AUV::Assist::Task::m_vz

Vertical speed (z)

Collaboration diagram for Supervisors::AUV::Assist::Task:
Collaboration graph