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

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onActivation (void)
 
void onDeactivation (void)
 
void onResourceInitialization (void)
 
void onUpdateParameters (void)
 
void initializePIDs (void)
 
void reset (void)
 
void consume (const IMC::Abort *msg)
 
void consume (const IMC::Brake *msg)
 
void consume (const IMC::DesiredSpeed *msg)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::ControlLoops *msg)
 
void consume (const IMC::Rpm *msg)
 
void rpmToThrust (float rpmvalue, float desired_rpm, double timestep)
 
void mpsToRpm (float abs_gvel, double timestep)
 
void dispatchThrust (float value, double timestep)
 
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

float m_desired_speed
 
uint8_t m_speed_units
 
Delta m_last_rpm
 
Delta m_last_mps
 
DiscretePID m_rpm_pid
 
DiscretePID m_mps_pid
 
IMC::SetThrusterActuation m_act
 
IMC::SetThrusterActuation m_last_act
 
float m_desired_rpm
 
float m_desired_gvel
 
bool m_u_active
 
float m_previous_rpm
 
bool m_braking
 
IMC::ControlParcel m_parcel_mps
 
IMC::ControlParcel m_parcel_rpm
 
uint32_t m_scope_ref
 
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 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 onEntityReservation (void)
 
virtual void onEntityResolution (void)
 
virtual void onReportEntityState (void)
 
virtual void onResourceAcquisition (void)
 
virtual void onResourceRelease (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

void Control::AUV::Speed::Task::consume ( const IMC::Abort *  msg)
inline
void Control::AUV::Speed::Task::consume ( const IMC::Brake *  msg)
inline
void Control::AUV::Speed::Task::consume ( const IMC::DesiredSpeed *  msg)
inline
void Control::AUV::Speed::Task::consume ( const IMC::EstimatedState *  msg)
inline
void Control::AUV::Speed::Task::consume ( const IMC::ControlLoops *  msg)
inline
void Control::AUV::Speed::Task::consume ( const IMC::Rpm *  msg)
inline
void Control::AUV::Speed::Task::dispatchThrust ( float  value,
double  timestep 
)
inline

Dispatch to bus SetThrusterActuation message.

Parameters
[in]valueset thrust actuation value
[in]timestepamount of time since last control step

References Control::AUV::Speed::Arguments::ramp_act, and DUNE::Math::trimValue().

void Control::AUV::Speed::Task::mpsToRpm ( float  abs_gvel,
double  timestep 
)
inline

Convert meters per second to a desired rpm value.

Parameters
[in]abs_gvelabsolute ground velocity
[in]timestepamount of time since last control step

References Control::AUV::Speed::Arguments::max_accel, Control::AUV::Speed::Arguments::max_rpm, Control::AUV::Speed::Arguments::min_rpm, and Control::AUV::Speed::Arguments::mps_ffgain.

void Control::AUV::Speed::Task::onActivation ( void  )
inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

void Control::AUV::Speed::Task::onDeactivation ( void  )
inlinevirtual

Called when the task stops normal execution and enters an idleness state.

Reimplemented from DUNE::Tasks::Task.

void Control::AUV::Speed::Task::onMain ( void  )
inlinevirtual

Implements DUNE::Tasks::Task.

void Control::AUV::Speed::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 Control::AUV::Speed::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::AUV::Speed::Arguments::log_parcels, Control::AUV::Speed::Arguments::max_int_mps, Control::AUV::Speed::Arguments::max_thrust, Control::AUV::Speed::Arguments::min_thrust, Control::AUV::Speed::Arguments::mps_ffgain, Control::AUV::Speed::Arguments::mps_gains, Control::AUV::Speed::Arguments::rpm_ffgain, and Control::AUV::Speed::Arguments::rpm_gains.

void Control::AUV::Speed::Task::reset ( void  )
inline
void Control::AUV::Speed::Task::rpmToThrust ( float  rpmvalue,
float  desired_rpm,
double  timestep 
)
inline

Convert rpm value to thrust actuation.

Parameters
[in]rpmvaluevalue of rpms currently in the motor
[in]desired_rpmdesired rpms for the motor
[in]timestepamount of time since last control step

References Control::AUV::Speed::Arguments::hardrpms, Control::AUV::Speed::Arguments::rpm_ffgain, and Control::AUV::Speed::Arguments::rpms_eos.

Member Data Documentation

IMC::SetThrusterActuation Control::AUV::Speed::Task::m_act

Thruster actuaction.

Arguments Control::AUV::Speed::Task::m_args

Task arguments.

bool Control::AUV::Speed::Task::m_braking

True if braking.

float Control::AUV::Speed::Task::m_desired_gvel

Last desired ground velocity.

float Control::AUV::Speed::Task::m_desired_rpm

Desired Rpms from ground velocity controller.

float Control::AUV::Speed::Task::m_desired_speed

Desired speed.

IMC::SetThrusterActuation Control::AUV::Speed::Task::m_last_act

Last thruster actuaction.

Delta Control::AUV::Speed::Task::m_last_mps

Time of last MPS message.

Delta Control::AUV::Speed::Task::m_last_rpm

Time of last RPM message.

DiscretePID Control::AUV::Speed::Task::m_mps_pid

MPS PID controller.

IMC::ControlParcel Control::AUV::Speed::Task::m_parcel_mps

Control Parcels for meters per second controller.

IMC::ControlParcel Control::AUV::Speed::Task::m_parcel_rpm

Control Parcels for rpm controller.

float Control::AUV::Speed::Task::m_previous_rpm

previous value of the desired rpm speed

DiscretePID Control::AUV::Speed::Task::m_rpm_pid

RPM PID controller.

uint32_t Control::AUV::Speed::Task::m_scope_ref

Control loops last reference.

uint8_t Control::AUV::Speed::Task::m_speed_units

Desired speed units.

bool Control::AUV::Speed::Task::m_u_active

Boolean to enable or disable the speed controller using estimated state.

Collaboration diagram for Control::AUV::Speed::Task:
Collaboration graph