//! Constructor.
BasicRemoteOperation::BasicRemoteOperation(const std::string& name, Tasks::Context& ctx):
Tasks::Periodic(name, ctx),
m_connection(false),
m_connection_timeout(1.0),
m_last_action(-1.0),
m_scope_ref(0)
{
// Define configuration parameters.
paramActive(Tasks::Parameter::SCOPE_MANEUVER,
Tasks::Parameter::VISIBILITY_DEVELOPER,
false);
param("Connection Timeout", m_connection_timeout)
.defaultValue("1.0")
.units(Units::Second);
addActionButton("Exit");
m_actions.op = IMC::RemoteActionsRequest::OP_REPORT;
// Register handler routines.
bind<IMC::Teleoperation>(this);
bind<IMC::RemoteActions>(this);
bind<IMC::RemoteActionsRequest>(this);
bind<IMC::ControlLoops>(this);
}
Task(const std::string& name, Tasks::Context& ctx):
Tasks::Task(name, ctx),
m_origin(NULL),
m_lbl_cfg(NULL),
m_prng(NULL)
{
// Define configuration parameters.
paramActive(Tasks::Parameter::SCOPE_MANEUVER,
Tasks::Parameter::VISIBILITY_USER,
true);
param("Ping Delay", m_args.ping_delay)
.units(Units::Second)
.defaultValue("1.0")
.description("");
param("Bad Range Probability", m_args.bad_range_prob)
.units(Units::Percentage)
.minimumValue("0")
.maximumValue("100")
.defaultValue("5.0")
.description("Probability of a bad range");
param("Standard Deviation", m_args.sigma)
.units(Units::Meter)
.defaultValue("1.25")
.description("Standard deviation of \"good\" range. "
"It is assumed that range errors are Gaussian distributed "
"with mean 0 and std. dev. sigma. "
"Rule of thumb (the usual one): to achieve 95% of range errors "
"with absolute value less than E, set sigma = E / 2. "
"For 99% of errors lower than E set sigma = E / 3");
param("PRNG Type", m_args.prng_type)
.defaultValue(Random::Factory::c_default);
param("PRNG Seed", m_args.prng_seed)
.defaultValue("-1");
setEntityState(IMC::EntityState::ESTA_BOOT, Status::CODE_WAIT_GPS_FIX);
requestDeactivation();
// Register consumers.
bind<IMC::LblConfig>(this);
bind<IMC::GpsFix>(this);
bind<IMC::SimulatedState>(this);
}
Task(const std::string& name, Tasks::Context& ctx):
Tasks::Task(name, ctx),
m_prng(NULL)
{
paramActive(Tasks::Parameter::SCOPE_IDLE,
Tasks::Parameter::VISIBILITY_USER);
// Retrieve configuration values
param("Standard Deviation - Euler Angles", m_args.stdev_euler)
.units(Units::Degree)
.defaultValue("0.3")
.description("White noise added to angular readings");
param("Standard Deviation - Angular Velocity", m_args.stdev_agvel)
.units(Units::DegreePerSecond)
.defaultValue("0.03")
.description("White noise added to angular velocity readings");
param("Standard Deviation - Heading Offset", m_args.stdev_heading_offset)
.units(Units::Degree)
.defaultValue("0.0")
.description("Heading bias from the compass");
param("Gyro Rate Bias", m_args.gyro_bias)
.units(Units::Degree)
.defaultValue("1.0")
.description("Gyro rate bias from the IMU");
param("Measures Euler Angles", m_args.euler)
.defaultValue("true")
.description("Some IMUs do not output Euler Angles measurements");
param("Activation Control", m_args.activation_control)
.defaultValue("false")
.description("True if it is possible to actively control the device");
param("PRNG Type", m_args.prng_type)
.defaultValue(Random::Factory::c_default);
param("PRNG Seed", m_args.prng_seed)
.defaultValue("-1");
// Register consumers.
bind<IMC::SimulatedState>(this);
}
