Actuators::SIMCT01::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
	~Task (void)
void	onEntityReservation (void)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	setReplyTimeout (double timeout)
void	consume (const IMC::SetThrusterActuation *msg)
void	readString (char *bfr, unsigned bfr_size)
bool	sendCommand (const char *cmd, char *reply, unsigned reply_size)
bool	sendDemand (unsigned index, int8_t value)
bool	resetMotor (unsigned index)
bool	queryCurrent (unsigned index)
bool	queryRPM (unsigned index)
void	onMain (void)

Public Attributes
SerialPort *	m_uart
std::vector < Entities::BasicEntity * >	m_ents
Counter< double >	m_feedback_timer
std::vector< Counter< double > >	m_wdogs
double	m_reply_tout
Arguments	m_args

Constructor & Destructor Documentation

Actuators::SIMCT01::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Actuators::SIMCT01::Arguments::addrs_hwr, Actuators::SIMCT01::Arguments::addrs_log, Actuators::SIMCT01::Arguments::echo, Actuators::SIMCT01::Arguments::feedback_freq, m_args, Actuators::SIMCT01::Arguments::motor_enames, Actuators::SIMCT01::Arguments::scale, Actuators::SIMCT01::Arguments::uart_baud, Actuators::SIMCT01::Arguments::uart_dev, and Actuators::SIMCT01::Arguments::wdog_tout.

Actuators::SIMCT01::Task::~Task ( void  )

inline

References onResourceRelease().

Member Function Documentation

void Actuators::SIMCT01::Task::consume ( const IMC::SetThrusterActuation *  msg )

inline

References Actuators::SIMCT01::Arguments::addrs_log, m_args, Actuators::SIMCT01::Arguments::scale, and sendDemand().

void Actuators::SIMCT01::Task::onEntityReservation ( void  )

inline

References m_args, m_ents, and Actuators::SIMCT01::Arguments::motor_enames.

void Actuators::SIMCT01::Task::onMain ( void  )

inline

References Actuators::SIMCT01::Arguments::addrs_hwr, m_args, m_feedback_timer, m_wdogs, DUNE::Time::Counter< T >::overflow(), queryCurrent(), queryRPM(), and DUNE::Time::Counter< T >::reset().

void Actuators::SIMCT01::Task::onResourceAcquisition ( void  )

inline

References m_args, m_uart, Actuators::SIMCT01::Arguments::uart_baud, and Actuators::SIMCT01::Arguments::uart_dev.

void Actuators::SIMCT01::Task::onResourceInitialization ( void  )

inline

References Actuators::SIMCT01::Arguments::addrs_log, m_args, m_feedback_timer, m_wdogs, DUNE::Time::Counter< T >::reset(), resetMotor(), setReplyTimeout(), and Actuators::SIMCT01::Arguments::wdog_tout.

void Actuators::SIMCT01::Task::onResourceRelease ( void  )

inline

References m_uart.

Referenced by ~Task().

void Actuators::SIMCT01::Task::onUpdateParameters ( void  )

inline

References Actuators::SIMCT01::Arguments::addrs_hwr, Actuators::SIMCT01::Arguments::addrs_log, Actuators::SIMCT01::Arguments::feedback_freq, m_args, m_ents, m_feedback_timer, m_uart, m_wdogs, Actuators::SIMCT01::Arguments::motor_enames, DUNE::Time::Counter< T >::setTop(), Actuators::SIMCT01::Arguments::uart_baud, and Actuators::SIMCT01::Arguments::uart_dev.

bool Actuators::SIMCT01::Task::queryCurrent ( unsigned  index )

inline

References Actuators::SIMCT01::Arguments::addrs_hwr, m_args, m_ents, m_wdogs, and sendCommand().

Referenced by onMain().

bool Actuators::SIMCT01::Task::queryRPM ( unsigned  index )

inline

References Actuators::SIMCT01::Arguments::addrs_hwr, m_args, m_ents, m_wdogs, and sendCommand().

Referenced by onMain().

void Actuators::SIMCT01::Task::readString ( char *  bfr, unsigned  bfr_size  )

inline

References m_uart.

Referenced by sendCommand().

bool Actuators::SIMCT01::Task::resetMotor ( unsigned  index )

inline

References Actuators::SIMCT01::Arguments::addrs_hwr, m_args, m_wdogs, and sendCommand().

Referenced by onResourceInitialization().

bool Actuators::SIMCT01::Task::sendCommand ( const char *  cmd, char *  reply, unsigned  reply_size  )

inline

References Actuators::SIMCT01::Arguments::echo, m_args, m_reply_tout, m_uart, and readString().

Referenced by queryCurrent(), queryRPM(), resetMotor(), and sendDemand().

bool Actuators::SIMCT01::Task::sendDemand ( unsigned  index, int8_t  value  )

inline

References Actuators::SIMCT01::Arguments::addrs_hwr, m_args, m_wdogs, and sendCommand().

Referenced by consume().

void Actuators::SIMCT01::Task::setReplyTimeout ( double  timeout )

inline

References m_reply_tout.

Referenced by onResourceInitialization().

Member Data Documentation

Arguments Actuators::SIMCT01::Task::m_args

Task arguments.

Referenced by consume(), onEntityReservation(), onMain(), onResourceAcquisition(), onResourceInitialization(), onUpdateParameters(), queryCurrent(), queryRPM(), resetMotor(), sendCommand(), sendDemand(), and Task().

std::vector<Entities::BasicEntity*> Actuators::SIMCT01::Task::m_ents

Motor entities.

Referenced by onEntityReservation(), onUpdateParameters(), queryCurrent(), and queryRPM().

Counter<double> Actuators::SIMCT01::Task::m_feedback_timer

Feedback timer.

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

double Actuators::SIMCT01::Task::m_reply_tout

Reply timeout.

Referenced by sendCommand(), and setReplyTimeout().

SerialPort* Actuators::SIMCT01::Task::m_uart

Serial port handle.

Referenced by onResourceAcquisition(), onResourceRelease(), onUpdateParameters(), readString(), and sendCommand().

std::vector<Counter<double> > Actuators::SIMCT01::Task::m_wdogs

Watchdogs.

Referenced by onMain(), onResourceInitialization(), onUpdateParameters(), queryCurrent(), queryRPM(), resetMotor(), and sendDemand().

Collaboration diagram for Actuators::SIMCT01::Task: