Simulators::Servos::Task Struct Reference

Detailed Description

Servos simulator task

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	consume (const IMC::SetServoPosition *msg)
void	consume (const IMC::SimulatedState *msg)
void	onMain (void)

Public Attributes
IMC::ServoPosition	m_positions [c_servo_count]
IMC::SetServoPosition	m_commands [c_servo_count]
Random::Generator *	m_prng
double	m_last_time
double	m_fault_timer
bool	m_faulted
int	m_servo_in_fault
Arguments	m_args

Constructor & Destructor Documentation

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

inline

References Simulators::Servos::Arguments::fault_trigger, Simulators::Servos::Arguments::generate_faults, Simulators::Servos::Arguments::limit_rate, m_args, Simulators::Servos::Arguments::max_angle, Simulators::Servos::Arguments::max_rate, Simulators::Servos::Arguments::prng_seed, and Simulators::Servos::Arguments::prng_type.

Member Function Documentation

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

inline

References Simulators::Servos::Arguments::fault_trigger, Simulators::Servos::Arguments::generate_faults, Simulators::Servos::Arguments::limit_rate, m_args, m_commands, m_fault_timer, m_faulted, m_last_time, m_positions, m_prng, m_servo_in_fault, Simulators::Servos::Arguments::max_angle, DUNE::Math::trimValue(), and DUNE::Math::Random::Generator::uniform().

void Simulators::Servos::Task::consume ( const IMC::SimulatedState *  msg )

inline

References Simulators::Servos::Arguments::limit_rate, m_args, m_commands, m_last_time, m_positions, m_servo_in_fault, Simulators::Servos::Arguments::max_rate, and DUNE::Math::trimValue().

void Simulators::Servos::Task::onMain ( void  )

inline

void Simulators::Servos::Task::onResourceAcquisition ( void  )

inline

Acquire resources.

References m_args, m_prng, Simulators::Servos::Arguments::prng_seed, and Simulators::Servos::Arguments::prng_type.

void Simulators::Servos::Task::onResourceInitialization ( void  )

inline

Initialize resources.

References m_last_time, and m_positions.

void Simulators::Servos::Task::onResourceRelease ( void  )

inline

Release resources.

References m_prng.

void Simulators::Servos::Task::onUpdateParameters ( void  )

inline

Update parameters.

References m_args, Simulators::Servos::Arguments::max_angle, and Simulators::Servos::Arguments::max_rate.

Member Data Documentation

Arguments Simulators::Servos::Task::m_args

Task arguments.

Referenced by consume(), onResourceAcquisition(), onUpdateParameters(), and Task().

IMC::SetServoPosition Simulators::Servos::Task::m_commands[c_servo_count]

Message for SetServoPosition.

Referenced by consume().

double Simulators::Servos::Task::m_fault_timer

Fault timer counter.

Referenced by consume().

bool Simulators::Servos::Task::m_faulted

Flag to signal a fault has already been generated.

Referenced by consume().

double Simulators::Servos::Task::m_last_time

Last time a setservoposition message was received.

Referenced by consume(), and onResourceInitialization().

IMC::ServoPosition Simulators::Servos::Task::m_positions[c_servo_count]

Message for servo positions.

Referenced by consume(), and onResourceInitialization().

Random::Generator* Simulators::Servos::Task::m_prng

PRNG handle.

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

int Simulators::Servos::Task::m_servo_in_fault

Number of faulty servo.

Referenced by consume().

Collaboration diagram for Simulators::Servos::Task: