Monitors::Servos::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onEntityResolution (void)
void	onResourceRelease (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	consume (const IMC::ServoPosition *msg)
void	consume (const IMC::SetServoPosition *msg)
void	consume (const IMC::Current *msg)
void	testPositionFaults (const IMC::ServoPosition *msg)
void	testCurrentFaults (float value, unsigned i)
void	updateState (unsigned id)
void	onMain (void)

Public Attributes
Arguments	m_args
ServoPositionMonitor< float > *	m_pos_monitor [c_servo_count]
float	m_servo_pos [c_servo_count]
float	m_set_servo [c_servo_count]
ServoCurrentMonitor< float > *	m_curr_monitor [c_servo_count]
unsigned	m_curr_ents [c_servo_count]
std::string	m_error_str
uint8_t	m_on_fault [c_servo_count]
Time::Counter< float >	m_timer
std::queue< double >	m_queue [c_servo_count]
bool	m_servo_fail

Constructor & Destructor Documentation

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

inline

References Monitors::Servos::Arguments::curr_fault_detect, Monitors::Servos::Arguments::curr_lower, Monitors::Servos::Arguments::curr_upper, Monitors::Servos::Arguments::elabel_ampg, Monitors::Servos::Arguments::error_count, Monitors::Servos::Arguments::error_time, Monitors::Servos::Arguments::fault_cooldown, m_args, m_curr_monitor, m_pos_monitor, Monitors::Servos::Arguments::max_lfaults, Monitors::Servos::Arguments::max_rotation_rate, Monitors::Servos::Arguments::max_ufaults, Monitors::Servos::Arguments::pos_error_delay, Monitors::Servos::Arguments::pos_error_samples, Monitors::Servos::Arguments::pos_error_threshold, Monitors::Servos::Arguments::pos_fault_detect, and Monitors::Servos::Arguments::rate_factor.

Member Function Documentation

void Monitors::Servos::Task::consume ( const IMC::ServoPosition *  msg )

inline

References m_args, m_timer, Monitors::Servos::Arguments::pos_fault_detect, and testPositionFaults().

void Monitors::Servos::Task::consume ( const IMC::SetServoPosition *  msg )

inline

References m_set_servo.

void Monitors::Servos::Task::consume ( const IMC::Current *  msg )

inline

References Monitors::Servos::Arguments::curr_fault_detect, m_args, m_curr_ents, and testCurrentFaults().

void Monitors::Servos::Task::onEntityResolution ( void  )

inline

References Monitors::Servos::Arguments::elabel_ampg, m_args, and m_curr_ents.

void Monitors::Servos::Task::onMain ( void  )

inline

References m_args, m_servo_fail, m_timer, and Monitors::Servos::Arguments::pos_fault_detect.

void Monitors::Servos::Task::onResourceAcquisition ( void  )

inline

References Monitors::Servos::Arguments::curr_fault_detect, Monitors::Servos::Arguments::curr_lower, Monitors::Servos::Arguments::curr_upper, Monitors::Servos::Arguments::fault_cooldown, m_args, m_curr_monitor, Monitors::Servos::Arguments::max_lfaults, and Monitors::Servos::Arguments::max_ufaults.

void Monitors::Servos::Task::onResourceInitialization ( void  )

inline

References Monitors::Servos::Arguments::curr_fault_detect, Monitors::Servos::FT_NONE, m_args, m_on_fault, m_set_servo, m_timer, and Monitors::Servos::Arguments::pos_fault_detect.

void Monitors::Servos::Task::onResourceRelease ( void  )

inline

References m_curr_monitor, and m_pos_monitor.

void Monitors::Servos::Task::onUpdateParameters ( void  )

inline

References Monitors::Servos::Arguments::curr_fault_detect, m_args, Monitors::Servos::Arguments::max_rotation_rate, Monitors::Servos::Arguments::pos_error_threshold, and Monitors::Servos::Arguments::pos_fault_detect.

void Monitors::Servos::Task::testCurrentFaults ( float  value, unsigned  i  )

inline

This method will attempt to detect faults in the servo using electric current readings.

Parameters

[in]	value	electric current value received
[in]	i	number of the servo to test for faults

References Monitors::Servos::FT_CURRENT, m_curr_monitor, m_error_str, m_on_fault, and updateState().

Referenced by consume().

void Monitors::Servos::Task::testPositionFaults ( const IMC::ServoPosition *  msg )

inline

Test for fault in servo positioning.

Parameters

[in]

msg

pointer to ServoPosition message

References Monitors::Servos::Arguments::error_time, Monitors::Servos::FT_POSITION, m_args, m_error_str, m_on_fault, m_pos_monitor, m_queue, m_set_servo, Monitors::Servos::Arguments::max_rotation_rate, Monitors::Servos::Arguments::pos_error_delay, Monitors::Servos::Arguments::pos_error_samples, Monitors::Servos::Arguments::pos_error_threshold, Monitors::Servos::Arguments::rate_factor, and updateState().

Referenced by consume().

void Monitors::Servos::Task::updateState ( unsigned  id )

inline

Update entity state according to fault states.

Parameters

[in]

id

number id of the servo

References Monitors::Servos::Arguments::error_count, Monitors::Servos::FT_NONE, m_args, m_error_str, m_on_fault, m_queue, and m_servo_fail.

Referenced by testCurrentFaults(), and testPositionFaults().

Member Data Documentation

Arguments Monitors::Servos::Task::m_args

Task arguments.

Referenced by consume(), onEntityResolution(), onMain(), onResourceAcquisition(), onResourceInitialization(), onUpdateParameters(), Task(), testPositionFaults(), and updateState().

unsigned Monitors::Servos::Task::m_curr_ents[c_servo_count]

Electric current entity ids.

Referenced by consume(), and onEntityResolution().

ServoCurrentMonitor<float>* Monitors::Servos::Task::m_curr_monitor[c_servo_count]

Servo Current Fault Monitors.

Referenced by onResourceAcquisition(), onResourceRelease(), Task(), and testCurrentFaults().

std::string Monitors::Servos::Task::m_error_str

String to hold the last error.

Referenced by testCurrentFaults(), testPositionFaults(), and updateState().

uint8_t Monitors::Servos::Task::m_on_fault[c_servo_count]

Fault mask to keep track of fault types.

Referenced by onResourceInitialization(), testCurrentFaults(), testPositionFaults(), and updateState().

ServoPositionMonitor<float>* Monitors::Servos::Task::m_pos_monitor[c_servo_count]

Position fault detection array.

Referenced by onResourceRelease(), Task(), and testPositionFaults().

std::queue<double> Monitors::Servos::Task::m_queue[c_servo_count]

Queue for error reports.

Referenced by testPositionFaults(), and updateState().

bool Monitors::Servos::Task::m_servo_fail

Major failure in one of the servos.

Referenced by onMain(), and updateState().

float Monitors::Servos::Task::m_servo_pos[c_servo_count]

Servo position.

float Monitors::Servos::Task::m_set_servo[c_servo_count]

Set Servo position values.

Referenced by consume(), onResourceInitialization(), and testPositionFaults().

Time::Counter<float> Monitors::Servos::Task::m_timer

Timer for error timeout.

Referenced by consume(), onMain(), and onResourceInitialization().

Collaboration diagram for Monitors::Servos::Task: