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

void	onUpdateParameters (void)

void	onActivation (void)

void	onDeactivation (void)

void	reset (void)

void	onResourceRelease (void)

void	onResourceInitialization (void)

void	onEntityResolution (void)

void	consume (const IMC::Brake *msg)

void	consume (const IMC::ServoPosition *msg)

void	consume (const IMC::DesiredControl *msg)

void	consume (const IMC::ControlLoops *msg)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::Rpm *msg)

void	allocate (float k, float m, float n)

void	brake (float k, float m)

void	brake (void)

void	brakePitch (void)

void	computeProducedTorque (void)

void	dispatchAllFins (void)

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
IMC::SetServoPosition	m_fins [c_fins]

IMC::SetServoPosition	m_last [c_fins]

IMC::AllocatedControlTorques	m_allocated

IMC::EstimatedState *	m_last_estimated_state

IMC::Rpm *	m_last_rpm

bool	m_braking

unsigned	m_spos_ent

float	m_servo_pos [c_fins]

uint32_t	m_scope_ref

Time::Delta	m_delta

Arguments	m_args

Math::MovingAverage< double > *	m_avg_ms

Math::MovingAverage< double > *	m_avg_rpm

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	onReportEntityState (void)

virtual void	onResourceAcquisition (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
Context &	m_ctx

std::vector< Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

◆ Task()

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

inline

Member Function Documentation

◆ allocate()

void Control::AUV::Allocator::Task::allocate	(	float	k,
		float	m,
		float	n
	)

inline

Allocate desired control torques on the fins.

Parameters

[in]	k	desired control torque in roll
[in]	m	desired control torque in pitch
[in]	n	desired control torque in yaw

◆ brake() [1/2]

void Control::AUV::Allocator::Task::brake	(	float	k,
		float	m
	)

inline

Parameters

[in]	k	torque about x to apply
[in]	m	torque about y to apply

References Control::AUV::Allocator::Arguments::brake_margin, Control::AUV::Allocator::Arguments::conv, Control::AUV::Allocator::Arguments::max_fin_rot, and DUNE::Math::trimValue().

◆ brake() [2/2]

void Control::AUV::Allocator::Task::brake ( void )

inline

Brake but ignore desired control.

References Control::AUV::Allocator::Arguments::max_fin_rot.

◆ brakePitch()

void Control::AUV::Allocator::Task::brakePitch ( void )

inline

Change my pitch up.

References Control::AUV::Allocator::Arguments::max_fin_rot.

◆ computeProducedTorque()

void Control::AUV::Allocator::Task::computeProducedTorque ( void )

inline

Compute actually produced torque.

◆ consume() [1/6]

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

inline

References Control::AUV::Allocator::Arguments::pitch_brake.

◆ consume() [2/6]

void Control::AUV::Allocator::Task::consume ( const IMC::ServoPosition * msg )

inline

◆ consume() [3/6]

void Control::AUV::Allocator::Task::consume ( const IMC::DesiredControl * msg )

inline

References Control::AUV::Allocator::Arguments::brake_margin, and Control::AUV::Allocator::Arguments::pitch_brake.

◆ consume() [4/6]

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

inline

◆ consume() [5/6]

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

inline

◆ consume() [6/6]

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

inline

◆ dispatchAllFins()

void Control::AUV::Allocator::Task::dispatchAllFins ( void )

inline

Dispatch all fins desired positions.

References DUNE::Math::max(), and Control::AUV::Allocator::Arguments::max_fin_rate.

◆ onActivation()

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

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

◆ onDeactivation()

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

inlinevirtual

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

Reimplemented from DUNE::Tasks::Task.

◆ onEntityResolution()

void Control::AUV::Allocator::Task::onEntityResolution ( void )

inlinevirtual

Resolve entities for messages.

Reimplemented from DUNE::Tasks::Task.

References Control::AUV::Allocator::Arguments::spos_label.

◆ onMain()

void Control::AUV::Allocator::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

◆ onResourceInitialization()

void Control::AUV::Allocator::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.

References Control::AUV::Allocator::Arguments::ms_minimum, and Control::AUV::Allocator::Arguments::rpm_minimum.

◆ onResourceRelease()

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

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

◆ onUpdateParameters()

void Control::AUV::Allocator::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::Allocator::Arguments::max_fin_rate, and Control::AUV::Allocator::Arguments::max_fin_rot.

◆ reset()

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

inline

Member Data Documentation

◆ m_allocated

IMC::AllocatedControlTorques Control::AUV::Allocator::Task::m_allocated

Allocated torques feedback message.

◆ m_args

Arguments Control::AUV::Allocator::Task::m_args

Task arguments.

◆ m_avg_ms

Math::MovingAverage<double>* Control::AUV::Allocator::Task::m_avg_ms

◆ m_avg_rpm

Math::MovingAverage<double>* Control::AUV::Allocator::Task::m_avg_rpm

◆ m_braking

bool Control::AUV::Allocator::Task::m_braking

Braking.

◆ m_delta

Time::Delta Control::AUV::Allocator::Task::m_delta

Time Delta.

◆ m_fins

IMC::SetServoPosition Control::AUV::Allocator::Task::m_fins[c_fins]

Fin commands.

◆ m_last

IMC::SetServoPosition Control::AUV::Allocator::Task::m_last[c_fins]

Fin last commands.

◆ m_last_estimated_state

IMC::EstimatedState* Control::AUV::Allocator::Task::m_last_estimated_state

Last lats EstimatedState.

◆ m_last_rpm

IMC::Rpm* Control::AUV::Allocator::Task::m_last_rpm

Last lats Rpm.

◆ m_scope_ref

uint32_t Control::AUV::Allocator::Task::m_scope_ref

Control loops last reference.

◆ m_servo_pos

float Control::AUV::Allocator::Task::m_servo_pos[c_fins]

Servo positions.

◆ m_spos_ent

unsigned Control::AUV::Allocator::Task::m_spos_ent

Entity id for the servo position messages.

Collaboration diagram for Control::AUV::Allocator::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ Task()

Member Function Documentation

◆ allocate()

◆ brake() [1/2]

◆ brake() [2/2]

◆ brakePitch()

◆ computeProducedTorque()

◆ consume() [1/6]

◆ consume() [2/6]

◆ consume() [3/6]

◆ consume() [4/6]

◆ consume() [5/6]

◆ consume() [6/6]

◆ dispatchAllFins()

◆ onActivation()

◆ onDeactivation()

◆ onEntityResolution()

◆ onMain()

◆ onResourceInitialization()

◆ onResourceRelease()

◆ onUpdateParameters()

◆ reset()

Member Data Documentation

◆ m_allocated

◆ m_args

◆ m_avg_ms

◆ m_avg_rpm

◆ m_braking

◆ m_delta

◆ m_fins

◆ m_last

◆ m_last_estimated_state

◆ m_last_rpm

◆ m_scope_ref

◆ m_servo_pos

◆ m_spos_ent