Actuators::PTUD48::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	sendCommand (const std::string &cmd)
void	createCommand (const std::string &cmd_type, int &val)
void	consume (const IMC::SetControlSurfaceDeflection *csd)
int	panRadToPos (float &val)
int	tiltRadToPos (float &val)
void	boundPan (int &val)
void	boundTilt (int &val)
void	task (void)

Public Attributes
SerialPort *	m_uart
Arguments	m_args
uint8_t	m_bfr [BUFFER_MAX]
float	m_pan
float	m_tilt

Constructor & Destructor Documentation

Actuators::PTUD48::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References m_args, Actuators::PTUD48::Arguments::pan_accel, Actuators::PTUD48::Arguments::pan_speed, Actuators::PTUD48::Arguments::ptu_pc, Actuators::PTUD48::Arguments::ptu_track, Actuators::PTUD48::Arguments::tilt_accel, Actuators::PTUD48::Arguments::tilt_speed, Actuators::PTUD48::Arguments::uart_baud, and Actuators::PTUD48::Arguments::uart_dev.

Member Function Documentation

void Actuators::PTUD48::Task::boundPan ( int &  val )

inline

References Actuators::PTUD48::PAN_MAX, and Actuators::PTUD48::PAN_MIN.

Referenced by task().

void Actuators::PTUD48::Task::boundTilt ( int &  val )

inline

References Actuators::PTUD48::TILT_MAX.

Referenced by task().

void Actuators::PTUD48::Task::consume ( const IMC::SetControlSurfaceDeflection *  csd )

inline

References m_pan, and m_tilt.

void Actuators::PTUD48::Task::createCommand ( const std::string &  cmd_type, int &  val  )

inline

References sendCommand().

Referenced by onResourceInitialization(), and task().

void Actuators::PTUD48::Task::onResourceAcquisition ( void  )

inline

References m_args, m_uart, Actuators::PTUD48::Arguments::uart_baud, and Actuators::PTUD48::Arguments::uart_dev.

void Actuators::PTUD48::Task::onResourceInitialization ( void  )

inline

References createCommand(), m_args, Actuators::PTUD48::Arguments::pan_accel, Actuators::PTUD48::Arguments::pan_speed, sendCommand(), Actuators::PTUD48::Arguments::tilt_accel, and Actuators::PTUD48::Arguments::tilt_speed.

void Actuators::PTUD48::Task::onResourceRelease ( void  )

inline

References m_uart.

int Actuators::PTUD48::Task::panRadToPos ( float &  val )

inline

Referenced by task().

void Actuators::PTUD48::Task::sendCommand ( const std::string &  cmd )

inline

References m_uart.

Referenced by createCommand(), and onResourceInitialization().

void Actuators::PTUD48::Task::task ( void  )

inline

References boundPan(), boundTilt(), createCommand(), m_pan, m_tilt, panRadToPos(), and tiltRadToPos().

int Actuators::PTUD48::Task::tiltRadToPos ( float &  val )

inline

Referenced by task().

Member Data Documentation

Arguments Actuators::PTUD48::Task::m_args

Referenced by onResourceAcquisition(), onResourceInitialization(), and Task().

uint8_t Actuators::PTUD48::Task::m_bfr[BUFFER_MAX]

float Actuators::PTUD48::Task::m_pan

Referenced by consume(), and task().

float Actuators::PTUD48::Task::m_tilt

Referenced by consume(), and task().

SerialPort* Actuators::PTUD48::Task::m_uart

Referenced by onResourceAcquisition(), onResourceRelease(), and sendCommand().

Collaboration diagram for Actuators::PTUD48::Task: