Actuators::MCD4R Namespace Reference

Detailed Description

Device driver for MCD4R.

MCD4R is a device that controls one robotic arm (pulse and finger), one pan & tilt, and one camera.

Author

Ricardo Martins

Classes
struct	Arguments
struct	Task

Enumerations
enum	PacketIds { PKT_ID_STATE, PKT_ID_ACTUATE }
enum	ActuateCommands {   ACT_CAM_PAN, ACT_CAM_TILT, ACT_CAM_ZOOM, ACT_CAM_FOCUS,   ACT_CAM_EXPO, ACT_ARM_PULSE, ACT_ARM_FINGER, ACT_LASER,   ACT_TOTAL }
enum	PanCommands { PAN_DIR_RV, PAN_DIR_ST, PAN_DIR_FW }
enum	TiltCommands { TILT_DIR_RV, TILT_DIR_ST, TILT_DIR_FW }
enum	ZoomCommands { ZOOM_DEC, ZOOM_STOP, ZOOM_INC }
enum	FocusCommands { FOCUS_FAR, FOCUS_STOP, FOCUS_NEAR, FOCUS_AUTO }
enum	ExposureCommands { EXPO_DEC, EXPO_STOP, EXPO_INC }
enum	PulseCommands { PULSE_FW, PULSE_ST, PULSE_RV }
enum	FingerCommands { FINGER_FW, FINGER_ST, FINGER_RV }
enum	LaserCommands { LASER_ON, LASER_OFF }
enum	StateVoltages {   SV_24, SV_12, SV_3V3, SV_TILT_EOL,   SV_PAN_EOL, SV_TOTAL }
enum	StateCurrents {   SC_ITILT, SC_IPAN, SC_IPULSE, SC_IFINGER,   SC_ISYS, SC_TOTAL }

Variables
const char *	c_voltage_labels []
const char *	c_current_labels []
const uint8_t	c_voltage_idx []
const uint8_t	c_current_idx []
const std::string	c_action_names []
const std::string	c_action_types []

Enumeration Type Documentation

enum Actuators::MCD4R::ActuateCommands

Actuation commands.

Enumerator
ACT_CAM_PAN	Camera pan.
ACT_CAM_TILT	Camera tilt.
ACT_CAM_ZOOM	Camera zoom.
ACT_CAM_FOCUS	Camera focus.
ACT_CAM_EXPO	Camera exposure.
ACT_ARM_PULSE	Camera pulse.
ACT_ARM_FINGER	Camera finger.
ACT_LASER	Lasers.
ACT_TOTAL	Total number of commands.

enum Actuators::MCD4R::ExposureCommands

Camera exposure commands.

Enumerator
EXPO_DEC	Exposure decrease.
EXPO_STOP	Exposure stop.
EXPO_INC	Exposure increase.

enum Actuators::MCD4R::FingerCommands

Arm finger commands.

Enumerator
FINGER_FW	Finger forward.
FINGER_ST	Finger stop.
FINGER_RV	Finger reverse.

enum Actuators::MCD4R::FocusCommands

Camera focus commands.

Enumerator
FOCUS_FAR	Far.
FOCUS_STOP	Stop.
FOCUS_NEAR	Near.
FOCUS_AUTO	Auto.

enum Actuators::MCD4R::LaserCommands

Laser commands.

Enumerator
LASER_ON	Enable Laser.
LASER_OFF	Disable laser.

enum Actuators::MCD4R::PacketIds

Packet identifiers.

Enumerator
PKT_ID_STATE	State.
PKT_ID_ACTUATE	Actuation command.

enum Actuators::MCD4R::PanCommands

Camera pan directions.

Enumerator
PAN_DIR_RV	Pan reverse.
PAN_DIR_ST	Pan stop.
PAN_DIR_FW	Pan forward.

enum Actuators::MCD4R::PulseCommands

Arm pulse commands.

Enumerator
PULSE_FW	Pulse forward.
PULSE_ST	Pulse stop.
PULSE_RV	Pulse reverse.

enum Actuators::MCD4R::StateCurrents

Currents in the state array.

Enumerator
SC_ITILT	Tilt current.
SC_IPAN	Pan current.
SC_IPULSE	Pulse current.
SC_IFINGER	Finger current.
SC_ISYS	System current.
SC_TOTAL	Total number of currents.

enum Actuators::MCD4R::StateVoltages

Voltages in the state array.

Enumerator
SV_24	24V
SV_12	12V
SV_3V3	3.3V
SV_TILT_EOL	Tilt EOL.
SV_PAN_EOL	Pan EOL.
SV_TOTAL	Number of voltages.

enum Actuators::MCD4R::TiltCommands

Camera tilt directions.

Enumerator
TILT_DIR_RV	Tilt reverse.
TILT_DIR_ST	Tilt stop.
TILT_DIR_FW	Tilt forward.

enum Actuators::MCD4R::ZoomCommands

Camera zoom commands.

Enumerator
ZOOM_DEC	Zoom decrease.
ZOOM_STOP	Zoom stop.
ZOOM_INC	Zoom increase.

Variable Documentation

const std::string Actuators::MCD4R::c_action_names[]

Action names for each actuation command.

Referenced by Actuators::MCD4R::Task::consume(), and Actuators::MCD4R::Task::onResourceInitialization().

const std::string Actuators::MCD4R::c_action_types[]

Action names for each actuation command.

Referenced by Actuators::MCD4R::Task::onResourceInitialization().

const uint8_t Actuators::MCD4R::c_current_idx[]

Currents index in for each measure in the received buffer.

Referenced by Actuators::MCD4R::Task::dispatchState().

const char* Actuators::MCD4R::c_current_labels[]

Labels for state currents.

Referenced by Actuators::MCD4R::Task::onEntityReservation().

const uint8_t Actuators::MCD4R::c_voltage_idx[]

Voltages index in for each measure in the received buffer.

Referenced by Actuators::MCD4R::Task::dispatchState().

const char* Actuators::MCD4R::c_voltage_labels[]

Labels for states voltages.

Referenced by Actuators::MCD4R::Task::onEntityReservation().