Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onResourceAcquisition (void)

void	onResourceRelease (void)

void	onResourceInitialization (void)

void	reset (void)

void	setInitialState (void)

void	changeMode (IMC::VehicleState::OperationModeEnum s, IMC::Message *maneuver=0)

void	consume (const IMC::Abort *msg)

void	onEnabledControlLoops (void)

void	onDisabledControlLoops (void)

void	consume (const IMC::ControlLoops *msg)

std::string	splitAndTranslate (const std::string &list)

void	consume (const IMC::EntityMonitoringState *msg)

void	consume (const IMC::ManeuverControlState *msg)

void	consume (const IMC::PlanControl *msg)

void	answer (const IMC::VehicleCommand *cmd, IMC::VehicleCommand::TypeEnum type, const std::string &desc)

void	requestOK (const IMC::VehicleCommand *cmd, const std::string &desc)

void	requestFailed (const IMC::VehicleCommand *cmd, const std::string &desc)

void	startCalibration (const IMC::VehicleCommand *msg)

void	stopCalibration (const IMC::VehicleCommand *msg)

void	startManeuver (const IMC::VehicleCommand *msg)

void	stopManeuver (bool abort=false)

void	consume (const IMC::VehicleCommand *cmd)

void	disableLoops (void)

void	task (void)

bool	entityError (void)

bool	serviceMode (void) const

bool	maneuverMode (void) const

bool	errorMode (void) const

bool	externalMode (void) const

bool	calibrationMode (void) const

bool	bootMode (void) const

bool	modeIs (IMC::VehicleState::OperationModeEnum mode) const

bool	teleoperationOn (void) const

bool	maneuverIs (uint16_t id) const

bool	nonOverridableLoops (void) const

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
float	m_switch_time

bool	m_ignore_errors

Time::Counter< float >	m_err_timer

IMC::VehicleCommand	m_vc_reply

IMC::VehicleState	m_vs

IMC::StopManeuver	m_stop

IMC::IdleManeuver	m_idle

uint32_t	m_scope_ref

std::vector< std::string >	m_ents_in_error

IMC::VehicleState::OperationModeEnum	m_last_op

unsigned	m_eboot

Time::Counter< float >	m_loops_timer

ManeuverSupervisor *	m_man_sup

float	m_calib_timeout

Arguments	m_args

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State { StateStarting, StateRunning, StateStopping, StateDead, StateUnknown }

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	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	onUpdateParameters (void)

virtual void	onRequestActivation (void)

virtual void	onRequestDeactivation (void)

virtual void	onActivation (void)

virtual void	onDeactivation (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

◆ Task()

Supervisors::Vehicle::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References Supervisors::Vehicle::Arguments::ext_control, Supervisors::Vehicle::Arguments::handle_timeout, and Supervisors::Vehicle::Arguments::vital_ents.

Member Function Documentation

◆ answer()

void Supervisors::Vehicle::Task::answer	(	const IMC::VehicleCommand *	cmd,
		IMC::VehicleCommand::TypeEnum	type,
		const std::string &	desc
	)

inline

◆ bootMode()

bool Supervisors::Vehicle::Task::bootMode ( void ) const

inline

◆ calibrationMode()

bool Supervisors::Vehicle::Task::calibrationMode ( void ) const

inline

◆ changeMode()

void Supervisors::Vehicle::Task::changeMode	(	IMC::VehicleState::OperationModeEnum	s,
		IMC::Message *	maneuver = `0`
	)

inline

References Supervisors::Vehicle::ManeuverSupervisor::addStart().

◆ consume() [1/6]

void Supervisors::Vehicle::Task::consume ( const IMC::Abort * msg )

inline

◆ consume() [2/6]

void Supervisors::Vehicle::Task::consume ( const IMC::ControlLoops * msg )

inline

◆ consume() [3/6]

void Supervisors::Vehicle::Task::consume ( const IMC::EntityMonitoringState * msg )

inline

◆ consume() [4/6]

void Supervisors::Vehicle::Task::consume ( const IMC::ManeuverControlState * msg )

inline

References Supervisors::Vehicle::ManeuverSupervisor::update().

◆ consume() [5/6]

void Supervisors::Vehicle::Task::consume ( const IMC::PlanControl * msg )

inline

◆ consume() [6/6]

void Supervisors::Vehicle::Task::consume ( const IMC::VehicleCommand * cmd )

inline

◆ disableLoops()

void Supervisors::Vehicle::Task::disableLoops ( void )

inline

◆ entityError()

bool Supervisors::Vehicle::Task::entityError ( void )

inline

Check if the entities in error are relevant for performing an emergency plan.

Returns: true if entity error is relevant for current state, false otherwise

References Supervisors::Vehicle::Arguments::vital_ents.

◆ errorMode()

bool Supervisors::Vehicle::Task::errorMode ( void ) const

inline

◆ externalMode()

bool Supervisors::Vehicle::Task::externalMode ( void ) const

inline

◆ maneuverIs()

bool Supervisors::Vehicle::Task::maneuverIs ( uint16_t id ) const

inline

◆ maneuverMode()

bool Supervisors::Vehicle::Task::maneuverMode ( void ) const

inline

◆ modeIs()

bool Supervisors::Vehicle::Task::modeIs ( IMC::VehicleState::OperationModeEnum mode ) const

inline

◆ nonOverridableLoops()

bool Supervisors::Vehicle::Task::nonOverridableLoops ( void ) const

inline

◆ onDisabledControlLoops()

void Supervisors::Vehicle::Task::onDisabledControlLoops ( void )

inline

◆ onEnabledControlLoops()

void Supervisors::Vehicle::Task::onEnabledControlLoops ( void )

inline

◆ onResourceAcquisition()

void Supervisors::Vehicle::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 Supervisors::Vehicle::Arguments::handle_timeout.

◆ onResourceInitialization()

void Supervisors::Vehicle::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.

◆ onResourceRelease()

void Supervisors::Vehicle::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.

◆ requestFailed()

void Supervisors::Vehicle::Task::requestFailed	(	const IMC::VehicleCommand *	cmd,
		const std::string &	desc
	)

inline

◆ requestOK()

void Supervisors::Vehicle::Task::requestOK	(	const IMC::VehicleCommand *	cmd,
		const std::string &	desc
	)

inline

◆ reset()

void Supervisors::Vehicle::Task::reset ( void )

inline

References Supervisors::Vehicle::ManeuverSupervisor::addStart(), and Supervisors::Vehicle::ManeuverSupervisor::addStop().

◆ serviceMode()

bool Supervisors::Vehicle::Task::serviceMode ( void ) const

inline

◆ setInitialState()

void Supervisors::Vehicle::Task::setInitialState ( void )

inline

◆ splitAndTranslate()

std::string Supervisors::Vehicle::Task::splitAndTranslate ( const std::string & list )

inline

Split comma separated list and translate labels, then join again.

Parameters

[in] list comma separated list of entity labels

Returns: 'comma + white space' separated list of translated entity labels

◆ startCalibration()

void Supervisors::Vehicle::Task::startCalibration ( const IMC::VehicleCommand * msg )

inline

References Supervisors::Vehicle::ManeuverSupervisor::addStop().

◆ startManeuver()

void Supervisors::Vehicle::Task::startManeuver ( const IMC::VehicleCommand * msg )

inline

References Supervisors::Vehicle::ManeuverSupervisor::addStop().

◆ stopCalibration()

void Supervisors::Vehicle::Task::stopCalibration ( const IMC::VehicleCommand * msg )

inline

◆ stopManeuver()

void Supervisors::Vehicle::Task::stopManeuver ( bool abort = false )

inline

◆ task()

void Supervisors::Vehicle::Task::task ( void )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References Supervisors::Vehicle::Arguments::ext_control, and Supervisors::Vehicle::ManeuverSupervisor::update().

◆ teleoperationOn()

bool Supervisors::Vehicle::Task::teleoperationOn ( void ) const

inline

Member Data Documentation

◆ m_args

Arguments Supervisors::Vehicle::Task::m_args

Task arguments.

◆ m_calib_timeout

float Supervisors::Vehicle::Task::m_calib_timeout

A timeout for calibration state.

◆ m_eboot

unsigned Supervisors::Vehicle::Task::m_eboot

Entities booting.

◆ m_ents_in_error

std::vector<std::string> Supervisors::Vehicle::Task::m_ents_in_error

Vector of labels from entities in error.

◆ m_err_timer

Time::Counter<float> Supervisors::Vehicle::Task::m_err_timer

Counter for printing errors.

◆ m_idle

IMC::IdleManeuver Supervisors::Vehicle::Task::m_idle

Idle maneuver message.

◆ m_ignore_errors

bool Supervisors::Vehicle::Task::m_ignore_errors

Currently ignoring errors while executing plan.

◆ m_last_op

IMC::VehicleState::OperationModeEnum Supervisors::Vehicle::Task::m_last_op

Last vehicle state operation mode.

◆ m_loops_timer

Time::Counter<float> Supervisors::Vehicle::Task::m_loops_timer

Time counter for enabled loops in service mode.

◆ m_man_sup

ManeuverSupervisor* Supervisors::Vehicle::Task::m_man_sup

Maneuver handler.

◆ m_scope_ref

uint32_t Supervisors::Vehicle::Task::m_scope_ref

Control loops last reference.

◆ m_stop

IMC::StopManeuver Supervisors::Vehicle::Task::m_stop

Stop maneuver message.

◆ m_switch_time

float Supervisors::Vehicle::Task::m_switch_time

Timer to wait for calibration and maneuver requests.

◆ m_vc_reply

IMC::VehicleCommand Supervisors::Vehicle::Task::m_vc_reply

Vehicle command message.

◆ m_vs

IMC::VehicleState Supervisors::Vehicle::Task::m_vs

Vehicle state message.

Collaboration diagram for Supervisors::Vehicle::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ Task()

Member Function Documentation

◆ answer()

◆ bootMode()

◆ calibrationMode()

◆ changeMode()

◆ consume() [1/6]

◆ consume() [2/6]

◆ consume() [3/6]

◆ consume() [4/6]

◆ consume() [5/6]

◆ consume() [6/6]

◆ disableLoops()

◆ entityError()

◆ errorMode()

◆ externalMode()

◆ maneuverIs()

◆ maneuverMode()

◆ modeIs()

◆ nonOverridableLoops()

◆ onDisabledControlLoops()

◆ onEnabledControlLoops()

◆ onResourceAcquisition()

◆ onResourceInitialization()

◆ onResourceRelease()

◆ requestFailed()

◆ requestOK()

◆ reset()

◆ serviceMode()

◆ setInitialState()

◆ splitAndTranslate()

◆ startCalibration()

◆ startManeuver()

◆ stopCalibration()

◆ stopManeuver()

◆ task()

◆ teleoperationOn()

Member Data Documentation

◆ m_args

◆ m_calib_timeout

◆ m_eboot

◆ m_ents_in_error

◆ m_err_timer

◆ m_idle

◆ m_ignore_errors

◆ m_last_op

◆ m_loops_timer

◆ m_man_sup

◆ m_scope_ref

◆ m_stop

◆ m_switch_time

◆ m_vc_reply

◆ m_vs