Classes
struct	LError

Public Types
typedef std::map< uint8_t, LError >	LErrorMap

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

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

void	init (fp32_t &v, fp32_t dfl, uint8_t mask)

void	setMaxDepth (void)

void	onUpdateParameters (void)

void	reset (void)

void	consume (const IMC::OperationalLimits *msg)

void	setError (uint8_t lmask, const char *ldesc, double v1, double v2)

void	clearError (uint8_t lmask, const char *ldesc, double v1, double v2)

bool	test (uint8_t lmask, const char *ldesc, double v1, double v2, double hyst=0.0)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::GetOperationalLimits *msg)

void	updateState (void)

void	task (void)

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
Arguments	m_args

LErrorMap	m_errs

IMC::OperationalLimits	m_ol

IMC::EstimatedState	m_estate

uint8_t	m_emask

IMC::CacheControl	m_cc

double	m_atest_time

bool	m_use_cfg

float	m_max_depth

Additional Inherited Members
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	onResourceAcquisition (void)

virtual void	onResourceRelease (void)

virtual void	onResourceInitialization (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

Member Typedef Documentation

◆ LErrorMap

typedef std::map<uint8_t, LError> Monitors::OperationalLimits::Task::LErrorMap

Mapping of error bitmask to op limits error.

Constructor & Destructor Documentation

◆ Task()

Monitors::OperationalLimits::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References Monitors::OperationalLimits::Arguments::h_max_depth, Monitors::OperationalLimits::Arguments::h_min_altitude, Monitors::OperationalLimits::Arguments::i_max_altitude, Monitors::OperationalLimits::Arguments::i_max_depth, Monitors::OperationalLimits::Arguments::i_max_speed, Monitors::OperationalLimits::Arguments::i_max_vrate, Monitors::OperationalLimits::Arguments::i_min_altitude, Monitors::OperationalLimits::Arguments::i_min_speed, and Monitors::OperationalLimits::Arguments::min_depth.

Member Function Documentation

◆ clearError()

void Monitors::OperationalLimits::Task::clearError	(	uint8_t	lmask,
		const char *	ldesc,
		double	v1,
		double	v2
	)

inline

Clear an op limit from error state.

Parameters

[in]	lmask	new error bitmask
[in]	ldesc	error description
[in]	v1	current value
[in]	v2	limit value

◆ consume() [1/3]

void Monitors::OperationalLimits::Task::consume ( const IMC::OperationalLimits * msg )

inline

◆ consume() [2/3]

void Monitors::OperationalLimits::Task::consume ( const IMC::EstimatedState * msg )

inline

◆ consume() [3/3]

void Monitors::OperationalLimits::Task::consume ( const IMC::GetOperationalLimits * msg )

inline

◆ init()

void Monitors::OperationalLimits::Task::init	(	fp32_t &	v,
		fp32_t	dfl,
		uint8_t	mask
	)

inline

Initialize op limits mask.

Parameters

[out]	v	value of the limit
[in]	dfl	value for the limit
[in]	mask	initial mask

◆ onUpdateParameters()

void Monitors::OperationalLimits::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 Monitors::OperationalLimits::Arguments::i_max_altitude, Monitors::OperationalLimits::Arguments::i_max_depth, Monitors::OperationalLimits::Arguments::i_max_speed, Monitors::OperationalLimits::Arguments::i_max_vrate, Monitors::OperationalLimits::Arguments::i_min_altitude, and Monitors::OperationalLimits::Arguments::i_min_speed.

◆ reset()

void Monitors::OperationalLimits::Task::reset ( void )

inline

Reset task to initial state.

◆ setError()

void Monitors::OperationalLimits::Task::setError	(	uint8_t	lmask,
		const char *	ldesc,
		double	v1,
		double	v2
	)

inline

Set an op limit to error mode.

Parameters

[in]	lmask	new error bitmask
[in]	ldesc	error description
[in]	v1	current value
[in]	v2	limit value

References Monitors::OperationalLimits::Task::LError::desc, Monitors::OperationalLimits::Task::LError::v1, and Monitors::OperationalLimits::Task::LError::v2.

◆ setMaxDepth()

void Monitors::OperationalLimits::Task::setMaxDepth ( void )

inline

There's an absolute maximum depth rating, limit the "operational limit".

◆ task()

void Monitors::OperationalLimits::Task::task ( void )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References Monitors::OperationalLimits::Arguments::h_max_depth, Monitors::OperationalLimits::Arguments::h_min_altitude, and Monitors::OperationalLimits::Arguments::min_depth.

◆ test()

bool Monitors::OperationalLimits::Task::test	(	uint8_t	lmask,
		const char *	ldesc,
		double	v1,
		double	v2,
		double	hyst = `0.0`
	)

inline

Clear an op limit from error state.

Parameters

[in]	lmask	new error bitmask
[in]	ldesc	error description
[in]	v1	current value
[in]	v2	limit value
[in]	hyst	hysteresis factor to avoid chattering

Returns: true if in error mode

◆ updateState()

void Monitors::OperationalLimits::Task::updateState ( void )

inline

Update state of the system.

Member Data Documentation

◆ m_args

Arguments Monitors::OperationalLimits::Task::m_args

Task arguments.

◆ m_atest_time

double Monitors::OperationalLimits::Task::m_atest_time

Time of next area limit test.

◆ m_cc

IMC::CacheControl Monitors::OperationalLimits::Task::m_cc

Cache control message.

◆ m_emask

uint8_t Monitors::OperationalLimits::Task::m_emask

Error mask.

◆ m_errs

LErrorMap Monitors::OperationalLimits::Task::m_errs

Error map.

◆ m_estate

IMC::EstimatedState Monitors::OperationalLimits::Task::m_estate

Last EstimatedState message.

◆ m_max_depth

float Monitors::OperationalLimits::Task::m_max_depth

Absolute maximum depth.

◆ m_ol

IMC::OperationalLimits Monitors::OperationalLimits::Task::m_ol

Limits in use.

◆ m_use_cfg

bool Monitors::OperationalLimits::Task::m_use_cfg

Use configuration flag.

Collaboration diagram for Monitors::OperationalLimits::Task:

Classes

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Member Typedef Documentation

◆ LErrorMap

Constructor & Destructor Documentation

◆ Task()

Member Function Documentation

◆ clearError()

◆ consume() [1/3]

◆ consume() [2/3]

◆ consume() [3/3]

◆ init()

◆ onUpdateParameters()

◆ reset()

◆ setError()

◆ setMaxDepth()

◆ task()

◆ test()

◆ updateState()

Member Data Documentation

◆ m_args

◆ m_atest_time

◆ m_cc

◆ m_emask

◆ m_errs

◆ m_estate

◆ m_max_depth

◆ m_ol

◆ m_use_cfg