Plan::Engine::Plan Class Reference

Detailed Description

Plan Specification parser.

Classes
struct	ParseError

Public Member Functions
	Plan (const IMC::PlanSpecification *spec, bool compute_progress, bool fpredict, float max_depth, Tasks::Task *task, uint16_t min_cal_time, Parsers::Config *cfg)
	~Plan (void)
void	clear (void)
void	parse (const std::set< uint16_t > *supported_maneuvers, const std::map< std::string, IMC::EntityInfo > &cinfo, IMC::PlanStatistics &ps, bool imu_enabled=false, const IMC::EstimatedState *state=NULL)
void	planStarted (void)
void	planStopped (void)
void	calibrationStarted (void)
void	maneuverStarted (const std::string &id)
void	maneuverDone (void)
uint16_t	getEstimatedCalibrationTime (void) const
bool	isDone (void) const
IMC::PlanManeuver *	loadStartManeuver (void)
IMC::PlanManeuver *	loadNextManeuver (void)
std::string	getCurrentId (void) const
const std::string	getCalibrationInfo (void) const
bool	isCalibrationDone (void) const
bool	hasCalibrationFailed (void) const
float	updateProgress (const IMC::ManeuverControlState *mcs)
void	updateCalibration (const IMC::VehicleState *vs)
bool	onEntityActivationState (const std::string &id, const IMC::EntityActivationState *msg)
void	onFuelLevel (const IMC::FuelLevel *msg)
float	getETA (void) const

Constructor & Destructor Documentation

Plan()

Plan::Engine::Plan::Plan	(	const IMC::PlanSpecification *	spec,
		bool	compute_progress,
		bool	fpredict,
		float	max_depth,
		Tasks::Task *	task,
		uint16_t	min_cal_time,
		Parsers::Config *	cfg
	)

Default constructor.

Parameters

[in]	spec	pointer to PlanSpecification message
[in]	compute_progress	true if progress should be computed
[in]	fpredict	true if fuel prediction should be computed
[in]	max_depth	maximum admissible depth
[in]	task	pointer to task
[in]	min_cal_time	minimum calibration time in s.
[in]	cfg	pointer to config object

References Plan::Engine::Calibration.

~Plan()

Plan::Engine::Plan::~Plan

(

void

)

Destructor.

Member Function Documentation

calibrationStarted()

void Plan::Engine::Plan::calibrationStarted

(

void

)

Signal that calibration has started.

References Plan::Engine::Calibration::setTime().

clear()

void Plan::Engine::Plan::clear

(

void

)

Reset data.

References Plan::Engine::Calibration::clear(), and Plan::Engine::ComponentActiveTime::clear().

Referenced by parse().

getCalibrationInfo()

const std::string Plan::Engine::Plan::getCalibrationInfo ( void  ) const

inline

Get calibration info string.

Returns

calibration info string

getCurrentId()

std::string Plan::Engine::Plan::getCurrentId ( void  ) const

inline

Get current maneuver id.

Returns

current id string

Referenced by getETA().

getEstimatedCalibrationTime()

uint16_t Plan::Engine::Plan::getEstimatedCalibrationTime

(

void

)

const

Get necessary calibration time.

Returns

necessary calibration time

getETA()

float Plan::Engine::Plan::getETA

(

void

)

const

Get current estimated time of arrival.

Returns

ETA

References Plan::Engine::ActionSchedule, Plan::Engine::ActionSchedule::calibTimeLeft(), Plan::Engine::PreStatistics::fill(), Plan::Engine::ActionSchedule::fillComponentActiveTime(), Plan::Engine::FuelPrediction, getCurrentId(), Plan::Engine::ActionSchedule::getEarliestSchedule(), Plan::Engine::Timeline::getPlanETA(), Plan::Engine::Calibration::getRemaining(), Plan::Engine::Calibration::inProgress(), Plan::Engine::Calibration::notStarted(), Plan::Engine::Timeline::setManeuverETA(), Plan::Engine::Timeline::setPlanETA(), Plan::Engine::Statistics::setProperties(), DUNE::Math::trimValue(), and Plan::Engine::ActionSchedule::waitingForDevice().

Referenced by updateProgress().

hasCalibrationFailed()

bool Plan::Engine::Plan::hasCalibrationFailed ( void  ) const

inline

Has calibration failed.

Returns

true if so, false otherwise

isCalibrationDone()

bool Plan::Engine::Plan::isCalibrationDone ( void  ) const

inline

Is calibration done.

Returns

true if so, false otherwise

isDone()

bool Plan::Engine::Plan::isDone

(

void

)

const

Check if plan has been completed.

Returns

true if plan is done

loadNextManeuver()

IMC::PlanManeuver * Plan::Engine::Plan::loadNextManeuver

(

void

)

Get next maneuver message.

Returns

NULL if maneuver id is invalid

loadStartManeuver()

IMC::PlanManeuver * Plan::Engine::Plan::loadStartManeuver

(

void

)

Get start maneuver message.

Returns

NULL if start maneuver id is invalid

maneuverDone()

void Plan::Engine::Plan::maneuverDone

(

void

)

Signal that current maneuver is done.

References Plan::Engine::ActionSchedule::maneuverDone(), and Plan::Engine::RunTimeStatistics::maneuverStopped().

maneuverStarted()

void Plan::Engine::Plan::maneuverStarted

(

const std::string &

id

)

Signal that a maneuver has started.

Parameters

[in]

id

name of the started maneuver

References Plan::Engine::ActionSchedule::maneuverStarted(), and Plan::Engine::RunTimeStatistics::maneuverStarted().

onEntityActivationState()

bool Plan::Engine::Plan::onEntityActivationState	(	const std::string &	id,
		const IMC::EntityActivationState *	msg
	)

Pass EntityActivationState to scheduler.

Parameters

[in]	id	entity label
[in]	msg	pointer to EntityActivationState message

Returns

false if something failed to be activated, true otherwise

References Plan::Engine::ActionSchedule::onEntityActivationState().

onFuelLevel()

void Plan::Engine::Plan::onFuelLevel

(

const IMC::FuelLevel *

msg

)

Pass FuelLevel to FuelPrediction.

Parameters

[in]

msg

FuelLevel message

References Plan::Engine::FuelPrediction::onFuelLevel().

parse()

void Plan::Engine::Plan::parse	(	const std::set< uint16_t > *	supported_maneuvers,
		const std::map< std::string, IMC::EntityInfo > &	cinfo,
		IMC::PlanStatistics &	ps,
		bool	imu_enabled = false,
		const IMC::EstimatedState *	state = NULL
	)

Parse a given plan.

Parameters

[in]	supported_maneuvers	list of supported maneuvers
[in]	cinfo	map of components info
[out]	ps	reference to PlanStatistics message
[in]	imu_enabled	true if imu enabled, false otherwise
[in]	state	pointer to EstimatedState message

References clear().

planStarted()

void Plan::Engine::Plan::planStarted

(

void

)

Signal that the plan has started.

References Plan::Engine::RunTimeStatistics::clear(), Plan::Engine::ActionSchedule::planStarted(), and Plan::Engine::RunTimeStatistics::planStarted().

planStopped()

void Plan::Engine::Plan::planStopped

(

void

)

Signal that the plan has stopped.

References Plan::Engine::RunTimeStatistics::fill(), Plan::Engine::ActionSchedule::planStopped(), and Plan::Engine::RunTimeStatistics::planStopped().

updateCalibration()

void Plan::Engine::Plan::updateCalibration

(

const IMC::VehicleState *

vs

)

Update calibration process.

References Plan::Engine::RunTimeStatistics::fillCalib(), Plan::Engine::Calibration::forceRemainingTime(), Plan::Engine::Calibration::getElapsedTime(), Plan::Engine::Calibration::inProgress(), Plan::Engine::Calibration::notStarted(), Plan::Engine::Calibration::start(), and Plan::Engine::Calibration::stop().

updateProgress()

float Plan::Engine::Plan::updateProgress

(

const IMC::ManeuverControlState *

mcs

)

Get current plan progress.

Parameters

[in]

mcs

pointer to maneuver control state message

Returns

progress in percent (-1.0 if unable to compute)

References Plan::Engine::ActionSchedule::flushTimed(), getETA(), and Plan::Engine::ActionSchedule::updateSchedule().

Collaboration diagram for Plan::Engine::Plan: