Actuators::Broom::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
	~Task (void)
void	onEntityReservation (void)
void	onResourceAcquisition (void)
void	onCommand (uint8_t cmd, const uint8_t *data, int data_size)
void	onVersion (unsigned major, unsigned minor, unsigned patch)
int16_t	sanitizeRef (int16_t value)
void	setRefDcycle (float value)
void	setRefCurrent (float value)
void	setRefRPM (int value)
void	setRefThrust (float value)
void	consume (const IMC::SetThrusterActuation *msg)
void	consume (const IMC::DesiredSpeed *msg)
bool	waitForCommand (uint8_t code)
void	task (void)

Public Attributes
Hardware::LUCL::Protocol	m_proto
int16_t	m_actuation
DevControlModes	m_ctl_mode
DevControlModes	m_thrust_ctl_mode
IMC::Rpm	m_rpms
Entities::BasicEntity *	m_motor_ent
Entities::BasicEntity *	m_bridge_ent
Entities::BasicEntity *	m_mcu_ent
double	m_last_state
Arguments	m_args
uint8_t	m_dev_errors
bool	m_legacy

Constructor & Destructor Documentation

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

inline

References Actuators::Broom::Arguments::bridge_elabel, Actuators::Broom::Arguments::desired_speed, Actuators::Broom::Arguments::inv_rotation, m_args, m_last_state, Actuators::Broom::Arguments::max_phase_current, Actuators::Broom::Arguments::max_rpm, Actuators::Broom::Arguments::mcu_elabel, Actuators::Broom::Arguments::motor_elabel, Actuators::Broom::Arguments::pole_pairs, Actuators::Broom::Arguments::state_per, Actuators::Broom::Arguments::thrust_ctl_mode, and Actuators::Broom::Arguments::uart_dev.

Actuators::Broom::Task::~Task ( void  )

inline

Member Function Documentation

void Actuators::Broom::Task::consume ( const IMC::SetThrusterActuation *  msg )

inline

References setRefThrust().

void Actuators::Broom::Task::consume ( const IMC::DesiredSpeed *  msg )

inline

References Actuators::Broom::Arguments::desired_speed, m_args, setRefRPM(), and setRefThrust().

void Actuators::Broom::Task::onCommand ( uint8_t  cmd, const uint8_t *  data, int  data_size  )

inline

References Actuators::Broom::c_dev_error_strings, Actuators::Broom::CMD_ACTUATE, Actuators::Broom::CMD_DEBUG, Actuators::Broom::CMD_STATE, Actuators::Broom::ERR_INIT, Actuators::Broom::ERR_POWER, Actuators::Broom::Arguments::inv_rotation, m_args, m_bridge_ent, m_dev_errors, m_legacy, m_mcu_ent, m_motor_ent, m_proto, and Actuators::Broom::Arguments::pole_pairs.

Referenced by waitForCommand().

void Actuators::Broom::Task::onEntityReservation ( void  )

inline

References Actuators::Broom::Arguments::bridge_elabel, m_args, m_bridge_ent, m_mcu_ent, m_motor_ent, Actuators::Broom::Arguments::mcu_elabel, and Actuators::Broom::Arguments::motor_elabel.

void Actuators::Broom::Task::onResourceAcquisition ( void  )

inline

References m_args, m_proto, and Actuators::Broom::Arguments::uart_dev.

void Actuators::Broom::Task::onUpdateParameters ( void  )

inline

References m_args, m_thrust_ctl_mode, Actuators::Broom::MODE_CURRENT, Actuators::Broom::MODE_NONE, Actuators::Broom::MODE_RPM, Actuators::Broom::MODE_VOLTAGE, Actuators::Broom::Arguments::state_per, and Actuators::Broom::Arguments::thrust_ctl_mode.

void Actuators::Broom::Task::onVersion ( unsigned  major, unsigned  minor, unsigned  patch  )

inline

References m_legacy.

Referenced by waitForCommand().

int16_t Actuators::Broom::Task::sanitizeRef ( int16_t  value )

inline

Sanitize the actuation reference (limits and sign)

Parameters

[in]

value

actuation reference value to be sanitized

References Actuators::Broom::Arguments::inv_rotation, m_args, and DUNE::Math::trimValue().

Referenced by setRefCurrent(), setRefDcycle(), and setRefRPM().

void Actuators::Broom::Task::setRefCurrent ( float  value )

inline

Set phase current value as actuation reference.

Parameters

[in]

value

phase current reference in Ampere

References m_actuation, m_args, m_ctl_mode, Actuators::Broom::Arguments::max_phase_current, Actuators::Broom::MODE_CURRENT, sanitizeRef(), and DUNE::Math::trimValue().

Referenced by setRefThrust().

void Actuators::Broom::Task::setRefDcycle ( float  value )

inline

Set percentage of duty cycle as actuation reference.

Parameters

[in]

value

percentage reference from -1.0 to 1.0

References m_actuation, m_ctl_mode, Actuators::Broom::MODE_VOLTAGE, sanitizeRef(), and DUNE::Math::trimValue().

Referenced by setRefThrust().

void Actuators::Broom::Task::setRefRPM ( int  value )

inline

Set rotor Rotations Per Minute value as actuation reference.

Parameters

[in]

value

rotor angular velocity reference in Rotations Per Minute

References m_actuation, m_args, m_ctl_mode, Actuators::Broom::MODE_RPM, Actuators::Broom::Arguments::pole_pairs, and sanitizeRef().

Referenced by consume(), and setRefThrust().

void Actuators::Broom::Task::setRefThrust ( float  value )

inline

Set thrust actuation reference, using the mode configured for the task.

Parameters

[in]

value

percentage of thrust from -1 to 1

References m_args, m_ctl_mode, m_thrust_ctl_mode, Actuators::Broom::Arguments::max_phase_current, Actuators::Broom::Arguments::max_rpm, Actuators::Broom::MODE_CURRENT, Actuators::Broom::MODE_NONE, Actuators::Broom::MODE_RPM, Actuators::Broom::MODE_VOLTAGE, setRefCurrent(), setRefDcycle(), and setRefRPM().

Referenced by consume().

void Actuators::Broom::Task::task ( void  )

inline

References Actuators::Broom::CMD_ACTUATE, Actuators::Broom::CMD_STATE, m_actuation, m_args, m_ctl_mode, m_dev_errors, m_last_state, m_proto, Actuators::Broom::Arguments::state_per, and waitForCommand().

bool Actuators::Broom::Task::waitForCommand ( uint8_t  code )

inline

References m_proto, onCommand(), and onVersion().

Referenced by task().

Member Data Documentation

int16_t Actuators::Broom::Task::m_actuation

Actuation command.

Referenced by setRefCurrent(), setRefDcycle(), setRefRPM(), and task().

Arguments Actuators::Broom::Task::m_args

Task arguments.

Referenced by consume(), onCommand(), onEntityReservation(), onResourceAcquisition(), onUpdateParameters(), sanitizeRef(), setRefCurrent(), setRefRPM(), setRefThrust(), Task(), and task().

Entities::BasicEntity* Actuators::Broom::Task::m_bridge_ent

Bridge entity.

Referenced by onCommand(), and onEntityReservation().

DevControlModes Actuators::Broom::Task::m_ctl_mode

Control mode.

Referenced by setRefCurrent(), setRefDcycle(), setRefRPM(), setRefThrust(), and task().

uint8_t Actuators::Broom::Task::m_dev_errors

Device error mask.

Referenced by onCommand(), and task().

double Actuators::Broom::Task::m_last_state

Last state request.

Referenced by Task(), and task().

bool Actuators::Broom::Task::m_legacy

Enable legacy protocol.

Referenced by onCommand(), and onVersion().

Entities::BasicEntity* Actuators::Broom::Task::m_mcu_ent

MCU entity.

Referenced by onCommand(), and onEntityReservation().

Entities::BasicEntity* Actuators::Broom::Task::m_motor_ent

Motor entity.

Referenced by onCommand(), and onEntityReservation().

Hardware::LUCL::Protocol Actuators::Broom::Task::m_proto

Device protocol handler.

Referenced by onCommand(), onResourceAcquisition(), task(), and waitForCommand().

IMC::Rpm Actuators::Broom::Task::m_rpms

RPMs message.

DevControlModes Actuators::Broom::Task::m_thrust_ctl_mode

Thrust control mode.

Referenced by onUpdateParameters(), and setRefThrust().

Collaboration diagram for Actuators::Broom::Task: