DUNE: Uniform Navigational Environment  2019.02.1
DUNE::Maneuvers::Maneuver Class Reference

Detailed Description

Base abstract class for maneuver tasks.

Public Member Functions

 Maneuver (const std::string &name, Tasks::Context &ctx)
 
virtual ~Maneuver ()
 
void onEntityReservation (void)
 
void onResourceInitialization (void)
 
virtual void onManeuverActivation (void)
 
virtual void onManeuverDeactivation (void)
 
virtual void onPathControlState (const IMC::PathControlState *pcs)
 
void onActivation (void)
 
void onDeactivation (void)
 
template<typename T , typename M >
void startManeuver (const M *maneuver)
 
template<typename T , typename M >
void bindToManeuver (void)
 
template<typename T >
void bindToManeuvers (T *task_obj, const std::vector< uint32_t > &list)
 
template<typename M , typename T >
void consumeIfActive (const M *msg)
 
template<typename M , typename T >
void bind (T *task_obj, bool always=false)
 
void consume (const IMC::StopManeuver *sm)
 
void consume (const IMC::PathControlState *pcs)
 
void setControl (uint32_t mask)
 
void setEntityId (unsigned eid)
 
void dispatch (IMC::Message *msg, unsigned int flags=0)
 
void dispatch (IMC::Message &msg, unsigned int flags=0)
 
void dispatch (IMC::DesiredPath *msg, unsigned int flags=0)
 
void dispatch (IMC::DesiredPath &msg, unsigned int flags=0)
 
virtual void onStateReport (void)
 
void updateLoops (const IMC::ControlLoops *cl)
 
void signalError (const std::string &msg)
 
void signalInvalidZ (void)
 
void signalNoAltitude (void)
 
void signalCompletion (const std::string &msg="done")
 
void signalProgress (uint16_t time_left, const std::string &msg)
 
void signalProgress (const std::string &msg)
 
void signalProgress (uint16_t time_left)
 
void signalProgress (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)
 

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 onEntityResolution (void)
 
virtual void onReportEntityState (void)
 
virtual void onResourceAcquisition (void)
 
virtual void onResourceRelease (void)
 
virtual void onUpdateParameters (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

DUNE::Maneuvers::Maneuver::Maneuver ( const std::string &  name,
Tasks::Context ctx 
)

Constructor.

DUNE::Maneuvers::Maneuver::~Maneuver ( void  )
virtual

Destructor.

Member Function Documentation

template<typename M , typename T >
void DUNE::Maneuvers::Maneuver::bind ( T *  task_obj,
bool  always = false 
)
inline

References consume(), and setControl().

template<typename T , typename M >
void DUNE::Maneuvers::Maneuver::bindToManeuver ( void  )
inline
template<typename T >
void DUNE::Maneuvers::Maneuver::bindToManeuvers ( T *  task_obj,
const std::vector< uint32_t > &  list 
)
inline
void DUNE::Maneuvers::Maneuver::consume ( const IMC::PathControlState pcs)

Consumer for PathControlState message.

Parameters
pcsmessage to consume.

References DUNE::Tasks::Task::isActive(), onPathControlState(), and DUNE::IMC::PathControlState::path_ref.

template<typename M , typename T >
void DUNE::Maneuvers::Maneuver::consumeIfActive ( const M *  msg)
inline
void DUNE::Maneuvers::Maneuver::dispatch ( IMC::Message msg,
unsigned int  flags = 0 
)
inline

Dispatch needs to be handled in a special fashion for DesiredPath.

This function handles every other kind of message.

Parameters
[in]msgmessage pointer.
[in]flagsbitfield with flags.

References DUNE::Tasks::DF_KEEP_SRC_EID, and DUNE::IMC::Message::setSourceEntity().

Referenced by consume(), dispatch(), onMain(), setControl(), signalCompletion(), signalError(), and signalProgress().

void DUNE::Maneuvers::Maneuver::dispatch ( IMC::Message msg,
unsigned int  flags = 0 
)
inline

Dispatch needs to be handled in a special fashion for DesiredPath.

This function handles every other kind of message.

Parameters
[in]msgmessage reference.
[in]flagsbitfield with flags.

References dispatch().

void DUNE::Maneuvers::Maneuver::dispatch ( IMC::DesiredPath msg,
unsigned int  flags = 0 
)
inline

Dispatch needs to be handled in a special fashion for DesiredPath.

Parameters
[in]msgmessage pointer.
[in]flagsbitfield with flags.

References DUNE::Tasks::DF_KEEP_SRC_EID, DUNE::IMC::DesiredPath::path_ref, and DUNE::IMC::Message::setSourceEntity().

void DUNE::Maneuvers::Maneuver::dispatch ( IMC::DesiredPath msg,
unsigned int  flags = 0 
)
inline

Dispatch needs to be handled in a special fashion for DesiredPath.

Parameters
[in]msgmessage reference.
[in]flagsbitfield with flags.

References dispatch().

void DUNE::Maneuvers::Maneuver::onActivation ( void  )
virtual

On task activation Should be used only by parent class Maneuver.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Status::CODE_ACTIVE, DUNE::IMC::EntityState::ESTA_NORMAL, onManeuverActivation(), and DUNE::Tasks::Task::setEntityState().

Referenced by onPathControlState().

void DUNE::Maneuvers::Maneuver::onDeactivation ( void  )
virtual
void DUNE::Maneuvers::Maneuver::onEntityReservation ( void  )
virtual

On entity reservation.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::getEntityId().

virtual void DUNE::Maneuvers::Maneuver::onManeuverActivation ( void  )
inlinevirtual

On maneuver activation.

Referenced by onActivation().

virtual void DUNE::Maneuvers::Maneuver::onManeuverDeactivation ( void  )
inlinevirtual

On maneuver deactivation.

Referenced by onDeactivation().

virtual void DUNE::Maneuvers::Maneuver::onPathControlState ( const IMC::PathControlState pcs)
inlinevirtual

On Path Control State.

References onActivation(), and onDeactivation().

Referenced by consume().

void DUNE::Maneuvers::Maneuver::onResourceInitialization ( void  )
inlinevirtual
virtual void DUNE::Maneuvers::Maneuver::onStateReport ( void  )
inlinevirtual

State report handler.

It should be overriden by maneuvers where it convenient to do so in time-triggered manner rather than in response to a particular message.

References signalCompletion(), signalError(), signalInvalidZ(), signalNoAltitude(), signalProgress(), and updateLoops().

Referenced by onMain().

void DUNE::Maneuvers::Maneuver::setControl ( uint32_t  mask)

Set or reconfigure control loops used by maneuver task.

Parameters
maskmask identifying controllers that should be made active.

References DUNE::IMC::CL_ALL, DUNE::IMC::ControlLoops::CL_DISABLE, DUNE::IMC::ControlLoops::CL_ENABLE, dispatch(), DUNE::IMC::ControlLoops::enable, DUNE::IMC::ControlLoops::mask, DUNE::IMC::ControlLoops::scope_ref, and updateLoops().

Referenced by bind().

void DUNE::Maneuvers::Maneuver::setEntityId ( unsigned  eid)
inline

Set entity Id for dispatching message Useful for maneuvers binding to more than one maneuver message.

void DUNE::Maneuvers::Maneuver::signalCompletion ( const std::string &  msg = "done")

Signal an error.

This method should be used by subclasses to signal maneuver completion.

Parameters
msgcompletion message

References DUNE::Tasks::Task::debug(), dispatch(), DUNE::IMC::ManeuverControlState::eta, DUNE::IMC::ManeuverControlState::info, DUNE::IMC::ManeuverControlState::MCS_DONE, DUNE::Tasks::Task::requestDeactivation(), and DUNE::IMC::ManeuverControlState::state.

Referenced by onStateReport().

void DUNE::Maneuvers::Maneuver::signalError ( const std::string &  msg)
void DUNE::Maneuvers::Maneuver::signalInvalidZ ( void  )

Signal invalid Z reference This method should be used by subclasses to signal an error condition.

References signalError().

Referenced by onStateReport().

void DUNE::Maneuvers::Maneuver::signalNoAltitude ( void  )

Signal no altitude error.

This method should be used by subclasses to signal an error condition.

References signalError().

Referenced by onStateReport().

void DUNE::Maneuvers::Maneuver::signalProgress ( uint16_t  time_left,
const std::string &  msg 
)

Signal maneuver progress.

Parameters
time_leftestimated time for completion.
msghuman-readable information.

References dispatch(), DUNE::IMC::ManeuverControlState::eta, DUNE::IMC::ManeuverControlState::info, DUNE::IMC::ManeuverControlState::MCS_EXECUTING, and DUNE::IMC::ManeuverControlState::state.

Referenced by onStateReport(), and startManeuver().

void DUNE::Maneuvers::Maneuver::signalProgress ( const std::string &  msg)
inline

Signal maneuver progress.

Parameters
msghuman-readable information.
void DUNE::Maneuvers::Maneuver::signalProgress ( uint16_t  time_left)
inline

Signal maneuver progress.

Parameters
time_leftestimated time for completion.
void DUNE::Maneuvers::Maneuver::signalProgress ( void  )
inline

Signal maneuver progress.

References onMain().

template<typename T , typename M >
void DUNE::Maneuvers::Maneuver::startManeuver ( const M *  maneuver)
inline

Method fired on maneuver startup.

It performs some initialization, then delegates handling on the task's consume method for the message.

Parameters
maneuvermaneuver object

References consume(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::requestActivation(), and signalProgress().

void DUNE::Maneuvers::Maneuver::updateLoops ( const IMC::ControlLoops cl)

Update active control loops.

Parameters
clcontrol loops message

References DUNE::IMC::ControlLoops::CL_ENABLE, DUNE::IMC::ControlLoops::enable, and DUNE::IMC::ControlLoops::mask.

Referenced by onStateReport(), and setControl().

Collaboration diagram for DUNE::Maneuvers::Maneuver:
Collaboration graph