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
DistanceTracking *	m_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
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)
Entities::BasicEntity *	getLocalEntity (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 >
Parameter &	param (const std::string &name, T &var)
template<typename Y , typename T >
Parameter &	param (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
Context &	m_ctx
std::vector< Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

Control::ROV::RemoteOperation::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Control::ROV::RemoteOperation::DTArguments::abs_max_dist, Control::ROV::RemoteOperation::Arguments::actuat, Control::ROV::RemoteOperation::Arguments::depth_deadzone, Control::ROV::RemoteOperation::Arguments::depth_inc, Control::ROV::RemoteOperation::Arguments::depth_rate, Control::ROV::RemoteOperation::Arguments::dh_control, Control::ROV::RemoteOperation::Arguments::dt, Control::ROV::RemoteOperation::Arguments::filt_wdist_label, Control::ROV::RemoteOperation::DTArguments::gains, Control::ROV::RemoteOperation::Arguments::heading_control, Control::ROV::RemoteOperation::Arguments::heading_rate, Control::ROV::RemoteOperation::DTArguments::int_limit, Control::ROV::RemoteOperation::Arguments::max_dist, Control::ROV::RemoteOperation::DTArguments::max_speed, Control::ROV::RemoteOperation::Arguments::max_speed, Control::ROV::RemoteOperation::Arguments::wdist_bounds, Control::ROV::RemoteOperation::Arguments::wdist_des_label, Control::ROV::RemoteOperation::Arguments::wdist_inc, Control::ROV::RemoteOperation::Arguments::wdist_label, and Control::ROV::RemoteOperation::Arguments::wdist_mav_size.

Member Function Documentation

void Control::ROV::RemoteOperation::Task::actuate ( void  )

inlinevirtual

Reimplemented from DUNE::Control::BasicRemoteOperation.

References Control::ROV::RemoteOperation::Arguments::actuat, Control::ROV::RemoteOperation::Arguments::dh_control, DUNE::IMC::DesiredVelocity::flags, Control::ROV::RemoteOperation::Arguments::heading_control, Control::ROV::RemoteOperation::Arguments::max_speed, DUNE::IMC::DesiredVelocity::u, DUNE::IMC::DesiredVelocity::v, DUNE::IMC::DesiredHeading::value, DUNE::IMC::DesiredZ::value, DUNE::IMC::DesiredHeadingRate::value, and DUNE::IMC::DesiredZ::z_units.

void Control::ROV::RemoteOperation::Task::actuateThruster ( unsigned  i )

inline

References DUNE::IMC::SetThrusterActuation::id, DUNE::Math::trimValue(), and DUNE::IMC::SetThrusterActuation::value.

void Control::ROV::RemoteOperation::Task::consume ( const IMC::EstimatedState *  msg )

inline

References DUNE::IMC::EstimatedState::depth, DUNE::IMC::Message::getSource(), and DUNE::IMC::EstimatedState::psi.

void Control::ROV::RemoteOperation::Task::consume ( const IMC::Distance *  msg )

inline

References DUNE::IMC::Message::getSourceEntity(), Control::ROV::RemoteOperation::Arguments::max_dist, Control::ROV::RemoteOperation::Arguments::max_speed, DUNE::IMC::Message::setSourceEntity(), DUNE::Math::MovingAverage< T >::update(), Control::ROV::RemoteOperation::DistanceTracking::update(), and DUNE::IMC::Distance::value.

void Control::ROV::RemoteOperation::Task::forwardControl ( int  value )

inline

References Control::ROV::RemoteOperation::DistanceTracking::setDesiredDistance(), DUNE::IMC::Message::setSourceEntity(), DUNE::Math::trimValue(), DUNE::IMC::Distance::value, Control::ROV::RemoteOperation::Arguments::wdist_bounds, and Control::ROV::RemoteOperation::Arguments::wdist_inc.

void Control::ROV::RemoteOperation::Task::onActivation ( void  )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References Control::ROV::RemoteOperation::Arguments::dh_control, DUNE::Math::Matrix::fill(), and Control::ROV::RemoteOperation::Arguments::heading_control.

void Control::ROV::RemoteOperation::Task::onConnectionTimeout ( void  )

inlinevirtual

Reimplemented from DUNE::Control::BasicRemoteOperation.

References Control::ROV::RemoteOperation::Arguments::dh_control, DUNE::Math::Matrix::fill(), and Control::ROV::RemoteOperation::Arguments::heading_control.

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 Control::ROV::RemoteOperation::Arguments::dh_control, and DUNE::Math::Matrix::fill().

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, 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 Control::ROV::RemoteOperation::Arguments::wdist_label.

void Control::ROV::RemoteOperation::Task::onRemoteActions ( const IMC::RemoteActions *  msg )

inlinevirtual

Reimplemented from DUNE::Control::BasicRemoteOperation.

References DUNE::IMC::RemoteActions::actions, Control::ROV::RemoteOperation::Arguments::depth_deadzone, Control::ROV::RemoteOperation::Arguments::depth_inc, Control::ROV::RemoteOperation::Arguments::depth_rate, Control::ROV::RemoteOperation::Arguments::dh_control, DUNE::Math::Matrix::get(), and Control::ROV::RemoteOperation::Arguments::heading_control.

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 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 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().

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.

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

inline

References Control::ROV::RemoteOperation::Arguments::heading_control, and Control::ROV::RemoteOperation::Arguments::heading_rate.

void Control::ROV::RemoteOperation::Task::toggleWallTracker ( void  )

inline

References DUNE::Memory::clear(), Control::ROV::RemoteOperation::Arguments::dt, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), and Control::ROV::RemoteOperation::DistanceTracking::setDesiredDistance().

Member Data Documentation

Arguments Control::ROV::RemoteOperation::Task::m_args

Task arguments.

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

Current vehicle depth.

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

Flag is true if we have depth and heading data.

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

Distance tracking algorithm.

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.

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

Vector of forces to apply.

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

Current heading or heading rate reference.

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

Starting depth.

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

Starting heading.

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

Thruster actuation vector.

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

Desired distance to wall source entity.

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

Desired distance to wall.

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

Distance to wall source entity.

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

Moving average for the distance to wall.

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

Wall tracking enabled counter.

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

Wall tracking enabled.

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