DUNE: Uniform Navigational Environment  2020.01.0
Control::AUV::Attitude::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onResourceInitialization (void)
 
void onResourceAcquisition (void)
 
void onResourceRelease (void)
 
void onAutopilotActivation (void)
 
void onAutopilotDeactivation (void)
 
void onUpdateParameters (void)
 
void initializePIDs (void)
 
void reset (void)
 
void onEntityReservation (void)
 
void onEstimatedState (const double timestep, const IMC::EstimatedState *msg)
 
float depthControl (const double timestep, const IMC::EstimatedState *msg)
 
float rollControl (const double timestep, const IMC::EstimatedState *msg)
 
float headingControl (const double timestep, const IMC::EstimatedState *msg)
 
- Public Member Functions inherited from DUNE::Control::BasicAutopilot
 BasicAutopilot (const std::string &name, Tasks::Context &ctx, const uint32_t controllable_loops, const uint32_t required_loops)
 
virtual ~BasicAutopilot (void)
 
virtual void onEstimatedState (const double timestep, const IMC::EstimatedState *msg)=0
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::DesiredZ *msg)
 
void consume (const IMC::DesiredPitch *msg)
 
void consume (const IMC::DesiredHeading *msg)
 
void consume (const IMC::DesiredHeadingRate *msg)
 
void consume (const IMC::ControlLoops *msg)
 
void consume (const IMC::DesiredVelocity *msg)
 
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)
 

Public Attributes

DiscretePID m_pid [LP_MAX_LOOPS]
 
IMC::DesiredHeadingRate m_hrate_ref
 
IMC::DesiredPitch m_pitch_ref
 
IMC::ControlParcel m_parcels [LP_MAX_LOOPS]
 
CoarseAltitude::Arguments m_ca_args
 
CoarseAltitude * m_ca
 
IMC::ControlParcel m_ca_parcel
 
bool m_extra_pitch
 
Arguments m_args
 
int m_sampling_rate_relation
 

Additional Inherited Members

- Public Types inherited from DUNE::Concurrency::Runnable
- Protected Types inherited from DUNE::Control::BasicAutopilot
- Protected Member Functions inherited from DUNE::Control::BasicAutopilot
void onDeactivation (void)
 
void onActivation (void)
 
void signalBadYaw (const char *desc=DTR("yaw control mode %d not supported"))
 
void signalBadVertical (const char *desc=DTR("vertical control mode %d not supported"))
 
float getVerticalRef (void) const
 
VerticalMode getVerticalMode (void) const
 
float getYawRef (void) const
 
YawMode getYawMode (void) const
 
float getSurgeRef (void) const
 
float getSwayRef (void) const
 
float getBottomFollowDepth (void) const
 
- 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 bind (unsigned int message_id, AbstractConsumer *consumer)
 
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 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

float Control::AUV::Attitude::Task::headingControl ( const double  timestep,
const IMC::EstimatedState *  msg 
)
inline

Control the heading angle.

Parameters
[in]timesteptime interval to use in pid controller.
[in]msgpointer to EstimatedState message.
Returns
desired torque about z axis.

References Control::AUV::Attitude::Arguments::error_attitude, Control::AUV::Attitude::Arguments::gains, Control::AUV::Attitude::Arguments::hrate_oloop, Control::AUV::Attitude::LP_HEADING, and Control::AUV::Attitude::LP_HRATE.

void Control::AUV::Attitude::Task::onAutopilotActivation ( void  )
inlinevirtual

On activation.

Reimplemented from DUNE::Control::BasicAutopilot.

void Control::AUV::Attitude::Task::onAutopilotDeactivation ( void  )
inlinevirtual

On deactivation.

Reimplemented from DUNE::Control::BasicAutopilot.

void Control::AUV::Attitude::Task::onEntityReservation ( void  )
inlinevirtual

Reserve entities for messages.

Reimplemented from DUNE::Tasks::Task.

References Control::AUV::Attitude::Arguments::log_parcels, and Control::AUV::Attitude::LP_MAX_LOOPS.

void Control::AUV::Attitude::Task::onEstimatedState ( const double  timestep,
const IMC::EstimatedState *  msg 
)
inline

Computes control values when receiving EstimatedState.

Parameters
[in]timesteptime interval to use in pid controller.
[in]msgpointer to EstimatedState message.

References Control::AUV::Attitude::Arguments::error_attitude, DUNE::Math::inverse(), Control::AUV::Attitude::Arguments::max_fin_rot, Control::AUV::Attitude::Arguments::max_pitch_act, Control::AUV::Attitude::Arguments::roll_control_enabled, and DUNE::Math::trimValue().

void Control::AUV::Attitude::Task::onResourceAcquisition ( void  )
inlinevirtual

Acquire resources.

Reimplemented from DUNE::Control::BasicAutopilot.

void Control::AUV::Attitude::Task::onResourceInitialization ( void  )
inlinevirtual

Initialize resources.

Reimplemented from DUNE::Control::BasicAutopilot.

void Control::AUV::Attitude::Task::onResourceRelease ( void  )
inlinevirtual

Release Resources.

Reimplemented from DUNE::Control::BasicAutopilot.

void Control::AUV::Attitude::Task::reset ( void  )
inlinevirtual

Member variable reset function.

Reimplemented from DUNE::Control::BasicAutopilot.

References Control::AUV::Attitude::LP_MAX_LOOPS.

float Control::AUV::Attitude::Task::rollControl ( const double  timestep,
const IMC::EstimatedState *  msg 
)
inline

Member Data Documentation

Arguments Control::AUV::Attitude::Task::m_args
CoarseAltitude* Control::AUV::Attitude::Task::m_ca

Coarse Altitude pointer to object.

CoarseAltitude::Arguments Control::AUV::Attitude::Task::m_ca_args

Coarse Altitude arguments.

IMC::ControlParcel Control::AUV::Attitude::Task::m_ca_parcel

Parcel for coarse altitude.

bool Control::AUV::Attitude::Task::m_extra_pitch

Applying extra reference.

IMC::DesiredHeadingRate Control::AUV::Attitude::Task::m_hrate_ref

Heading controller heading rate reference.

IMC::ControlParcel Control::AUV::Attitude::Task::m_parcels[LP_MAX_LOOPS]

PID parcels.

DiscretePID Control::AUV::Attitude::Task::m_pid[LP_MAX_LOOPS]

PID Controllers.

IMC::DesiredPitch Control::AUV::Attitude::Task::m_pitch_ref

Depth controller pitch reference.

int Control::AUV::Attitude::Task::m_sampling_rate_relation
Collaboration diagram for Control::AUV::Attitude::Task:
Collaboration graph