Control::AUV::Diving::Task Struct Reference

Detailed Description

Motor simulator task

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceRelease (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	onActivation (void)
void	onDeactivation (void)
void	reset (void)
void	consume (const IMC::Brake *msg)
void	consume (const IMC::Rpm *msg)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::DesiredSpeed *msg)
void	consume (const IMC::DesiredZ *msg)
void	consume (const IMC::ControlLoops *msg)
void	task (void)
void	onIdle (void)
void	onChecking (void)
void	onSubmerged (void)
void	onForcing (void)
bool	increaseSpeed (void)
bool	hasZReference (void)

Public Attributes
uint32_t	m_aloops
MachineStates	m_mstate
IMC::DesiredSpeed	m_forced_speed
IMC::DesiredSpeed	m_dspeed
IMC::DesiredZ	m_z_ref
unsigned	m_incs
float	m_speed_inc
Time::Counter< float > *	m_counter_solo
Time::Counter< float > *	m_counter_step
float	m_rpm
float	m_depth
float	m_alt
bool	m_got_data
bool	m_last_try
bool	m_braking
uint32_t	m_scope_ref
Arguments	m_args

Constructor & Destructor Documentation

Task()

Control::AUV::Diving::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Control::AUV::Diving::Arguments::depth_threshold, Control::AUV::Diving::Arguments::max_increase, Control::AUV::Diving::Arguments::speed_step, Control::AUV::Diving::Arguments::speed_tol, Control::AUV::Diving::Arguments::time_solo, and Control::AUV::Diving::Arguments::time_step.

Member Function Documentation

consume() [1/6]

void Control::AUV::Diving::Task::consume ( const IMC::Brake *  msg )

inline

References Control::AUV::Diving::SM_FORCING, and Control::AUV::Diving::SM_IDLE.

consume() [2/6]

void Control::AUV::Diving::Task::consume ( const IMC::Rpm *  msg )

inline

consume() [3/6]

void Control::AUV::Diving::Task::consume ( const IMC::EstimatedState *  msg )

inline

consume() [4/6]

void Control::AUV::Diving::Task::consume ( const IMC::DesiredSpeed *  msg )

inline

consume() [5/6]

void Control::AUV::Diving::Task::consume ( const IMC::DesiredZ *  msg )

inline

consume() [6/6]

void Control::AUV::Diving::Task::consume ( const IMC::ControlLoops *  msg )

inline

hasZReference()

bool Control::AUV::Diving::Task::hasZReference ( void  )

inline

Check if we have depth/altitude reference.

Returns

true if we do, false otherwise

References Control::AUV::Diving::Arguments::depth_threshold.

increaseSpeed()

bool Control::AUV::Diving::Task::increaseSpeed ( void  )

inline

Increase desired speed.

Returns

true if was able to increase speed, false otherwise

References Control::AUV::Diving::Arguments::max_increase, and Control::AUV::Diving::Arguments::speed_step.

onActivation()

void Control::AUV::Diving::Task::onActivation ( void  )

inline

On activation.

onChecking()

void Control::AUV::Diving::Task::onChecking ( void  )

inline

Checking state machine routine.

References Control::AUV::Diving::Arguments::depth_threshold, Control::AUV::Diving::SM_FORCING, Control::AUV::Diving::SM_IDLE, and Control::AUV::Diving::SM_SUBMERGED.

onDeactivation()

void Control::AUV::Diving::Task::onDeactivation ( void  )

inline

On deactivation.

onForcing()

void Control::AUV::Diving::Task::onForcing ( void  )

inline

Forcing state machine routine.

References Control::AUV::Diving::Arguments::depth_threshold, Control::AUV::Diving::SM_IDLE, and Control::AUV::Diving::SM_SUBMERGED.

onIdle()

void Control::AUV::Diving::Task::onIdle ( void  )

inline

Idle state machine routine.

References Control::AUV::Diving::Arguments::depth_threshold, Control::AUV::Diving::SM_CHECKING, and Control::AUV::Diving::Arguments::speed_tol.

onResourceAcquisition()

void Control::AUV::Diving::Task::onResourceAcquisition ( void  )

inline

Acquire resources.

References Control::AUV::Diving::Arguments::time_solo, and Control::AUV::Diving::Arguments::time_step.

onResourceInitialization()

void Control::AUV::Diving::Task::onResourceInitialization ( void  )

inline

Initialize resources.

onResourceRelease()

void Control::AUV::Diving::Task::onResourceRelease ( void  )

inline

Release resources.

onSubmerged()

void Control::AUV::Diving::Task::onSubmerged ( void  )

inline

Submerged state machine routine.

References Control::AUV::Diving::Arguments::depth_threshold, Control::AUV::Diving::SM_CHECKING, and Control::AUV::Diving::SM_IDLE.

reset()

void Control::AUV::Diving::Task::reset ( void  )

inline

Reset all variables.

References Control::AUV::Diving::SM_IDLE.

task()

void Control::AUV::Diving::Task::task ( void  )

inline

References Control::AUV::Diving::SM_CHECKING, Control::AUV::Diving::SM_FORCING, Control::AUV::Diving::SM_IDLE, and Control::AUV::Diving::SM_SUBMERGED.

Member Data Documentation

m_aloops

uint32_t Control::AUV::Diving::Task::m_aloops

Active loops.

m_alt

float Control::AUV::Diving::Task::m_alt

Vehicle's altitude (if any)

m_args

Arguments Control::AUV::Diving::Task::m_args

Task arguments.

m_braking

bool Control::AUV::Diving::Task::m_braking

Braking flag.

m_counter_solo

Time::Counter<float>* Control::AUV::Diving::Task::m_counter_solo

Timer counter for solo attempt.

m_counter_step

Time::Counter<float>* Control::AUV::Diving::Task::m_counter_step

Timer counter for each speed increase step.

m_depth

float Control::AUV::Diving::Task::m_depth

Vehicle's depth.

m_dspeed

IMC::DesiredSpeed Control::AUV::Diving::Task::m_dspeed

Last received desired speed.

m_forced_speed

IMC::DesiredSpeed Control::AUV::Diving::Task::m_forced_speed

Forced desired speed.

m_got_data

bool Control::AUV::Diving::Task::m_got_data

Got necessary data to proceed.

m_incs

unsigned Control::AUV::Diving::Task::m_incs

Number of speed increases.

m_last_try

bool Control::AUV::Diving::Task::m_last_try

On last attempt.

m_mstate

MachineStates Control::AUV::Diving::Task::m_mstate

State machine state.

m_rpm

float Control::AUV::Diving::Task::m_rpm

Motor's rpms.

m_scope_ref

uint32_t Control::AUV::Diving::Task::m_scope_ref

Control loops last reference.

m_speed_inc

float Control::AUV::Diving::Task::m_speed_inc

Speed amount to increase.

m_z_ref

IMC::DesiredZ Control::AUV::Diving::Task::m_z_ref

Last received desired z.

Collaboration diagram for Control::AUV::Diving::Task: