Actuators::SCRTv4::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onEntityReservation (void)
void	onResourceRelease (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	consume (const IMC::SetServoPosition *msg)
bool	readConstantParameters (void)
bool	readEffectiveParameters (void)
bool	startContinuous (void)
bool	stopContinuous (void)
LUCL::Command *	waitForReply (Commands command, double timeout)
bool	waitForReplyAndDiscard (Commands command, double timeout)
uint8_t	convertAngleToDemand (unsigned servo, double angle)
void	setServoPosition (uint8_t servo, double position)
void	handleState (LUCL::Command::CommandPayload &cmd)
void	handleCommand (LUCL::Command *cmd)
void	dispatchStats (void)
void	clearStats (void)
void	onMain (void)

Public Attributes
Arguments	m_args
IMC::ServoPosition	m_servo_pos [c_servo_count]
IMC::Current	m_servo_amp [c_servo_count]
SerialPort *	m_uart
Listener *	m_listener
double	m_exc_min [c_servo_count]
double	m_exc_max [c_servo_count]
uint8_t	m_demand_res
unsigned	m_stat_invalid
unsigned	m_stat_error
unsigned	m_stat_timeout
Counter< double >	m_wdog

Constructor & Destructor Documentation

Actuators::SCRTv4::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References m_args, Actuators::SCRTv4::Arguments::servo_dirs, and Actuators::SCRTv4::Arguments::uart_dev.

Member Function Documentation

void Actuators::SCRTv4::Task::clearStats ( void  )

inline

References dispatchStats(), m_stat_error, m_stat_invalid, and m_stat_timeout.

Referenced by onResourceInitialization().

void Actuators::SCRTv4::Task::consume ( const IMC::SetServoPosition *  msg )

inline

References setServoPosition().

uint8_t Actuators::SCRTv4::Task::convertAngleToDemand ( unsigned  servo, double  angle  )

inline

References m_args, m_demand_res, m_exc_max, m_exc_min, and Actuators::SCRTv4::Arguments::servo_dirs.

Referenced by setServoPosition().

void Actuators::SCRTv4::Task::dispatchStats ( void  )

inline

References m_stat_error, m_stat_invalid, and m_stat_timeout.

Referenced by clearStats(), handleCommand(), and waitForReply().

void Actuators::SCRTv4::Task::handleCommand ( LUCL::Command *  cmd )

inline

References Actuators::SCRTv4::CMD_STATE, dispatchStats(), handleState(), m_stat_error, and m_stat_invalid.

Referenced by onMain().

void Actuators::SCRTv4::Task::handleState ( LUCL::Command::CommandPayload &  cmd )

inline

References m_args, m_exc_min, m_servo_amp, m_servo_pos, m_wdog, DUNE::Time::Counter< T >::reset(), and Actuators::SCRTv4::Arguments::servo_dirs.

Referenced by handleCommand().

void Actuators::SCRTv4::Task::onEntityReservation ( void  )

inline

References m_servo_amp, and m_servo_pos.

void Actuators::SCRTv4::Task::onMain ( void  )

inline

References handleCommand(), m_listener, m_wdog, DUNE::Time::Counter< T >::overflow(), Actuators::SCRTv4::Listener::pop(), and Actuators::SCRTv4::Listener::waitForCommand().

void Actuators::SCRTv4::Task::onResourceAcquisition ( void  )

inline

References m_args, m_listener, m_uart, and Actuators::SCRTv4::Arguments::uart_dev.

void Actuators::SCRTv4::Task::onResourceInitialization ( void  )

inline

References clearStats(), m_wdog, readConstantParameters(), readEffectiveParameters(), DUNE::Time::Counter< T >::setTop(), startContinuous(), and stopContinuous().

void Actuators::SCRTv4::Task::onResourceRelease ( void  )

inline

References m_listener, and m_uart.

bool Actuators::SCRTv4::Task::readConstantParameters ( void  )

inline

References Actuators::SCRTv4::CMD_PARAMS_CON, m_demand_res, m_uart, and waitForReply().

Referenced by onResourceInitialization().

bool Actuators::SCRTv4::Task::readEffectiveParameters ( void  )

inline

References Actuators::SCRTv4::CMD_PARAMS_EFF, m_exc_max, m_exc_min, m_uart, setServoPosition(), and waitForReply().

Referenced by onResourceInitialization().

void Actuators::SCRTv4::Task::setServoPosition ( uint8_t  servo, double  position  )

inline

References Actuators::SCRTv4::CMD_SERVO_SET, convertAngleToDemand(), and m_uart.

Referenced by consume(), and readEffectiveParameters().

bool Actuators::SCRTv4::Task::startContinuous ( void  )

inline

References Actuators::SCRTv4::CMD_STATE, Actuators::SCRTv4::CONT_OUT_RATE_10HZ, m_uart, and waitForReplyAndDiscard().

Referenced by onResourceInitialization().

bool Actuators::SCRTv4::Task::stopContinuous ( void  )

inline

References Actuators::SCRTv4::CMD_CHECK_FUSES, Actuators::SCRTv4::CMD_STATE, Actuators::SCRTv4::CONT_OUT_RATE_0HZ, m_uart, and waitForReplyAndDiscard().

Referenced by onResourceInitialization().

LUCL::Command* Actuators::SCRTv4::Task::waitForReply ( Commands  command, double  timeout  )

inline

References dispatchStats(), m_listener, m_stat_timeout, Actuators::SCRTv4::Listener::pop(), and Actuators::SCRTv4::Listener::waitForCommand().

Referenced by readConstantParameters(), readEffectiveParameters(), and waitForReplyAndDiscard().

bool Actuators::SCRTv4::Task::waitForReplyAndDiscard ( Commands  command, double  timeout  )

inline

References waitForReply().

Referenced by startContinuous(), and stopContinuous().

Member Data Documentation

Arguments Actuators::SCRTv4::Task::m_args

Task arguments.

Referenced by convertAngleToDemand(), handleState(), onResourceAcquisition(), and Task().

uint8_t Actuators::SCRTv4::Task::m_demand_res

Demand resolution.

Referenced by convertAngleToDemand(), and readConstantParameters().

double Actuators::SCRTv4::Task::m_exc_max[c_servo_count]

Maximum excursion (º).

Referenced by convertAngleToDemand(), and readEffectiveParameters().

double Actuators::SCRTv4::Task::m_exc_min[c_servo_count]

Minimum excursion (º).

Referenced by convertAngleToDemand(), handleState(), and readEffectiveParameters().

Listener* Actuators::SCRTv4::Task::m_listener

Command listener.

Referenced by onMain(), onResourceAcquisition(), onResourceRelease(), and waitForReply().

IMC::Current Actuators::SCRTv4::Task::m_servo_amp[c_servo_count]

Current messages.

Referenced by handleState(), and onEntityReservation().

IMC::ServoPosition Actuators::SCRTv4::Task::m_servo_pos[c_servo_count]

Servo position messages.

Referenced by handleState(), and onEntityReservation().

unsigned Actuators::SCRTv4::Task::m_stat_error

Count of communication errors.

Referenced by clearStats(), dispatchStats(), and handleCommand().

unsigned Actuators::SCRTv4::Task::m_stat_invalid

Count of invalid checksums.

Referenced by clearStats(), dispatchStats(), and handleCommand().

unsigned Actuators::SCRTv4::Task::m_stat_timeout

Count of command timeouts.

Referenced by clearStats(), dispatchStats(), and waitForReply().

SerialPort* Actuators::SCRTv4::Task::m_uart

Serial port device.

Referenced by onResourceAcquisition(), onResourceRelease(), readConstantParameters(), readEffectiveParameters(), setServoPosition(), startContinuous(), and stopContinuous().

Counter<double> Actuators::SCRTv4::Task::m_wdog

Watchdog.

Referenced by handleState(), onMain(), and onResourceInitialization().

Collaboration diagram for Actuators::SCRTv4::Task: