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	setup (void)
bool	getEEPROM (uint8_t command, const uint8_t *data=NULL, size_t data_size=0)
bool	updateConfigArea (uint8_t command, std::vector< uint8_t > &dev_values, const std::vector< uint8_t > &new_values)
bool	setupConfigGeneral (void)
bool	setupConfigDCYC (void)
bool	setupConfigIADC (void)
bool	setupConfigERPM (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	reportEntityState (void)
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
uint8_t	m_dev_errors
unsigned	m_motor_id
bool	m_legacy
Counter< double >	m_boot_timer
Counter< double >	m_state_timer
Counter< double >	m_wdog
Counter< double >	m_wdog_setup
Counter< double >	m_estate_timer
size_t	m_sample_count
size_t	m_faults_count
size_t	m_timeout_count
std::vector< unsigned >	m_version
std::vector< uint8_t >	m_eep_config
std::vector< uint8_t >	m_eep_dcyc
std::vector< uint8_t >	m_eep_iadc
std::vector< uint8_t >	m_eep_erpm
SetupState	m_setup_state
Arguments	m_args

Constructor & Destructor Documentation

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

inline

References Actuators::Broom::Arguments::actuation_wdt, Actuators::Broom::Arguments::bridge_elabel, Actuators::Broom::Arguments::bridge_temp_hyst, Actuators::Broom::Arguments::bridge_temp_max, Actuators::Broom::Arguments::ctl_dcyc_inc, Actuators::Broom::Arguments::ctl_dcyc_max, Actuators::Broom::Arguments::ctl_dcyc_negl, Actuators::Broom::Arguments::ctl_erpm_inc, Actuators::Broom::Arguments::ctl_erpm_max, Actuators::Broom::Arguments::ctl_erpm_negl, Actuators::Broom::Arguments::ctl_iadc_inc, Actuators::Broom::Arguments::ctl_iadc_max, Actuators::Broom::Arguments::ctl_iadc_negl, Actuators::Broom::Arguments::current_raw_offset, Actuators::Broom::Arguments::desired_speed, Actuators::Broom::Arguments::inv_rotation, m_args, Actuators::Broom::Arguments::max_rpm, Actuators::Broom::Arguments::mcu_elabel, Actuators::Broom::Arguments::motor_elabel, Actuators::Broom::Arguments::motor_id, Actuators::Broom::Arguments::motor_temp_hyst, Actuators::Broom::Arguments::motor_temp_max, Actuators::Broom::Arguments::pole_pairs, Actuators::Broom::Arguments::state_per, Actuators::Broom::Arguments::thrust_ctl_mode, Actuators::Broom::Arguments::timeout_error, Actuators::Broom::Arguments::timeout_failure, 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 m_motor_id, and setRefThrust().

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

inline

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

bool Actuators::Broom::Task::getEEPROM ( uint8_t  command, const uint8_t *  data = NULL, size_t  data_size = 0  )

inline

References Actuators::Broom::ERR_NONE, m_dev_errors, m_proto, m_timeout_count, and waitForCommand().

Referenced by updateConfigArea().

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_CONFIG, Actuators::Broom::CMD_CONFIG_DCYC, Actuators::Broom::CMD_CONFIG_ERPM, Actuators::Broom::CMD_CONFIG_IADC, Actuators::Broom::CMD_DEBUG, Actuators::Broom::CMD_STATE, Actuators::Broom::ERR_INIT, Actuators::Broom::ERR_POWER, Actuators::Broom::Arguments::inv_rotation, m_args, m_boot_timer, m_bridge_ent, m_dev_errors, m_eep_config, m_eep_dcyc, m_eep_erpm, m_eep_iadc, m_legacy, m_mcu_ent, m_motor_ent, m_proto, DUNE::Time::Counter< T >::overflow(), 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_boot_timer, m_proto, DUNE::Time::Counter< T >::setTop(), and Actuators::Broom::Arguments::uart_dev.

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

inline

References m_args, m_motor_id, m_state_timer, m_thrust_ctl_mode, m_wdog, Actuators::Broom::MODE_CURRENT, Actuators::Broom::MODE_NONE, Actuators::Broom::MODE_RPM, Actuators::Broom::MODE_VOLTAGE, Actuators::Broom::Arguments::motor_id, DUNE::Time::Counter< T >::setTop(), Actuators::Broom::Arguments::state_per, Actuators::Broom::Arguments::thrust_ctl_mode, and Actuators::Broom::Arguments::timeout_error.

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

inline

References m_legacy, and m_version.

Referenced by waitForCommand().

void Actuators::Broom::Task::reportEntityState ( void  )

inline

References DUNE::Time::Counter< T >::getElapsed(), m_args, m_boot_timer, m_dev_errors, m_estate_timer, m_faults_count, m_sample_count, m_timeout_count, m_wdog, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), and Actuators::Broom::Arguments::timeout_failure.

Referenced by task().

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 Actuators::Broom::Arguments::ctl_iadc_max, m_actuation, m_args, m_ctl_mode, 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 Actuators::Broom::Arguments::ctl_iadc_max, m_args, m_ctl_mode, m_thrust_ctl_mode, 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::setup ( void  )

inline

References m_proto, m_setup_state, m_version, m_wdog_setup, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::setTop(), setupConfigDCYC(), setupConfigERPM(), setupConfigGeneral(), setupConfigIADC(), Actuators::Broom::SS_CONFIG, Actuators::Broom::SS_CONFIG_DCYC, Actuators::Broom::SS_CONFIG_ERPM, Actuators::Broom::SS_CONFIG_IADC, Actuators::Broom::SS_DONE, Actuators::Broom::SS_VERSION_GET, Actuators::Broom::SS_VERSION_WAIT, and waitForCommand().

Referenced by task().

bool Actuators::Broom::Task::setupConfigDCYC ( void  )

inline

References Actuators::Broom::CMD_CONFIG_DCYC, Actuators::Broom::Arguments::ctl_dcyc_inc, Actuators::Broom::Arguments::ctl_dcyc_max, Actuators::Broom::Arguments::ctl_dcyc_negl, m_args, m_eep_dcyc, and updateConfigArea().

Referenced by setup().

bool Actuators::Broom::Task::setupConfigERPM ( void  )

inline

References Actuators::Broom::CMD_CONFIG_ERPM, Actuators::Broom::Arguments::ctl_erpm_inc, Actuators::Broom::Arguments::ctl_erpm_max, Actuators::Broom::Arguments::ctl_erpm_negl, m_args, m_eep_erpm, and updateConfigArea().

Referenced by setup().

bool Actuators::Broom::Task::setupConfigGeneral ( void  )

inline

References Actuators::Broom::Arguments::actuation_wdt, Actuators::Broom::Arguments::bridge_temp_hyst, Actuators::Broom::Arguments::bridge_temp_max, Actuators::Broom::CMD_CONFIG, Actuators::Broom::Arguments::current_raw_offset, m_args, m_eep_config, Actuators::Broom::Arguments::motor_temp_hyst, Actuators::Broom::Arguments::motor_temp_max, and updateConfigArea().

Referenced by setup().

bool Actuators::Broom::Task::setupConfigIADC ( void  )

inline

References Actuators::Broom::CMD_CONFIG_IADC, Actuators::Broom::Arguments::ctl_iadc_inc, Actuators::Broom::Arguments::ctl_iadc_max, Actuators::Broom::Arguments::ctl_iadc_negl, m_args, m_eep_iadc, and updateConfigArea().

Referenced by setup().

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

inline

References Actuators::Broom::CMD_ACTUATE, Actuators::Broom::CMD_STATE, m_actuation, m_ctl_mode, m_dev_errors, m_proto, m_setup_state, m_state_timer, m_timeout_count, DUNE::Time::Counter< T >::overflow(), reportEntityState(), DUNE::Time::Counter< T >::reset(), setup(), Actuators::Broom::SS_DONE, and waitForCommand().

bool Actuators::Broom::Task::updateConfigArea ( uint8_t  command, std::vector< uint8_t > &  dev_values, const std::vector< uint8_t > &  new_values  )

inline

References Actuators::Broom::CMD_CONFIG, and getEEPROM().

Referenced by setupConfigDCYC(), setupConfigERPM(), setupConfigGeneral(), and setupConfigIADC().

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

inline

References m_faults_count, m_proto, m_sample_count, m_wdog, onCommand(), onVersion(), and DUNE::Time::Counter< T >::reset().

Referenced by getEEPROM(), setup(), and 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(), reportEntityState(), sanitizeRef(), setRefCurrent(), setRefRPM(), setRefThrust(), setupConfigDCYC(), setupConfigERPM(), setupConfigGeneral(), setupConfigIADC(), and Task().

Counter<double> Actuators::Broom::Task::m_boot_timer

Used to silence some spurious boot errors.

Referenced by onCommand(), onResourceAcquisition(), and reportEntityState().

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 getEEPROM(), onCommand(), reportEntityState(), and task().

std::vector<uint8_t> Actuators::Broom::Task::m_eep_config

EEPROM - General Config Area.

Referenced by onCommand(), and setupConfigGeneral().

std::vector<uint8_t> Actuators::Broom::Task::m_eep_dcyc

EEPROM - DCYC Config Area.

Referenced by onCommand(), and setupConfigDCYC().

std::vector<uint8_t> Actuators::Broom::Task::m_eep_erpm

EEPROM - RPM Config Area.

Referenced by onCommand(), and setupConfigERPM().

std::vector<uint8_t> Actuators::Broom::Task::m_eep_iadc

EEPROM - IADC Config Area.

Referenced by onCommand(), and setupConfigIADC().

Counter<double> Actuators::Broom::Task::m_estate_timer

Entity state timer.

Referenced by reportEntityState().

size_t Actuators::Broom::Task::m_faults_count

Faults count.

Referenced by reportEntityState(), and waitForCommand().

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().

unsigned Actuators::Broom::Task::m_motor_id

Motor identifier.

Referenced by consume(), and onUpdateParameters().

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

Device protocol handler.

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

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

RPMs message.

size_t Actuators::Broom::Task::m_sample_count

Sample count.

Referenced by reportEntityState(), and waitForCommand().

SetupState Actuators::Broom::Task::m_setup_state

Setup state.

Referenced by setup(), and task().

Counter<double> Actuators::Broom::Task::m_state_timer

State update timer.

Referenced by onUpdateParameters(), and task().

DevControlModes Actuators::Broom::Task::m_thrust_ctl_mode

Thrust control mode.

Referenced by onUpdateParameters(), and setRefThrust().

size_t Actuators::Broom::Task::m_timeout_count

Timeout count.

Referenced by getEEPROM(), reportEntityState(), and task().

std::vector<unsigned> Actuators::Broom::Task::m_version

Version.

Referenced by onVersion(), and setup().

Counter<double> Actuators::Broom::Task::m_wdog

Watchdog.

Referenced by onUpdateParameters(), reportEntityState(), and waitForCommand().

Counter<double> Actuators::Broom::Task::m_wdog_setup

Setup watchdog.

Referenced by setup().

Collaboration diagram for Actuators::Broom::Task: