Actuators::AMC::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onEntityReservation (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	consume (const IMC::SetThrusterActuation *msg)
bool	checkSerialPort (void)
int	setRPM (int motor, int rpm)
int	checkStateMotor (bool spew_ok)
void	checkDataMotor (uint8_t id_motor)
void	stopAllMotor (void)
void	readParameterAMC (int motor, AmcMessages fname)
void	dispatchAllData (uint8_t id)
void	setRpmValues (void)
void	task (void)

Public Attributes
IMC::Rpm	m_rpm [c_max_motors]
IMC::Temperature	m_tmp [c_max_motors]
IMC::Voltage	m_volt [c_max_motors]
IMC::Current	m_amp [c_max_motors]
Arguments	m_args
SerialPort *	m_uart
Poll	m_poll
uint8_t	m_buffer [c_max_buffer]
uint8_t	m_csum [c_max_csum]
char	m_msg [c_max_buffer]
Parser *	m_parse
uint8_t	m_cnt_motor
double	m_act [c_numb_motor_id]
uint8_t	m_fail_uart
Time::Counter< float >	m_cnt_motor_check
double	m_tstamp

Constructor & Destructor Documentation

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

inline

Constructor.

Parameters

[in]	name	task name.
[in]	ctx	context.

References Actuators::AMC::Arguments::ifactor_orientation, Actuators::AMC::Arguments::ifactor_rpm, m_args, Actuators::AMC::Arguments::motor_elabels, Actuators::AMC::Arguments::motor_state, Actuators::AMC::Arguments::uart_baud, and Actuators::AMC::Arguments::uart_dev.

Member Function Documentation

void Actuators::AMC::Task::checkDataMotor ( uint8_t  id_motor )

inline

Request/read all info of motor to AMC board.

References Actuators::AMC::ALL, checkSerialPort(), dispatchAllData(), m_parse, m_poll, m_uart, readParameterAMC(), and Actuators::AMC::Parser::translate().

Referenced by task().

bool Actuators::AMC::Task::checkSerialPort ( void  )

inline

Read data send by AMC board.

References m_buffer, m_parse, m_poll, m_tstamp, m_uart, and Actuators::AMC::Parser::parse().

Referenced by checkDataMotor(), and checkStateMotor().

int Actuators::AMC::Task::checkStateMotor ( bool  spew_ok )

inline

Check state of motor (Active/Disable)

References checkSerialPort(), m_args, m_fail_uart, Actuators::AMC::Parser::m_motor, m_parse, m_poll, Actuators::AMC::Arguments::motor_state, readParameterAMC(), Actuators::AMC::Parser::AMCMotorState::state, Actuators::AMC::STATE, and Actuators::AMC::Parser::translate().

Referenced by onResourceInitialization(), and task().

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

inline

Consume message IMC::SetThrusterActuation.

References m_act.

void Actuators::AMC::Task::dispatchAllData ( uint8_t  id )

inline

Dispatch rpm value to IMC message.

References Actuators::AMC::Parser::AMCMotorState::current, Actuators::AMC::Arguments::ifactor_orientation, m_amp, m_args, Actuators::AMC::Parser::m_motor, m_parse, m_rpm, m_tmp, m_tstamp, m_volt, Actuators::AMC::Parser::AMCMotorState::rpm, Actuators::AMC::Parser::AMCMotorState::tmp, and Actuators::AMC::Parser::AMCMotorState::volt.

Referenced by checkDataMotor().

void Actuators::AMC::Task::onEntityReservation ( void  )

inline

Reserve entity identifiers.

References m_amp, m_args, m_rpm, m_tmp, m_volt, Actuators::AMC::Arguments::motor_elabels, and Actuators::AMC::Arguments::motor_state.

void Actuators::AMC::Task::onResourceAcquisition ( void  )

inline

Acquire resources.

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

void Actuators::AMC::Task::onResourceInitialization ( void  )

inline

Initialize resources.

References checkStateMotor(), m_cnt_motor, m_cnt_motor_check, m_fail_uart, m_parse, m_poll, m_uart, and stopAllMotor().

void Actuators::AMC::Task::onResourceRelease ( void  )

inline

Release resources.

References m_parse, m_poll, and m_uart.

void Actuators::AMC::Task::readParameterAMC ( int  motor, AmcMessages  fname  )

inline

Requests specific data type.

References Actuators::AMC::ALL, m_csum, m_msg, m_uart, Actuators::AMC::PWR, Actuators::AMC::RPM, Actuators::AMC::STATE, and Actuators::AMC::TEMPERATURE.

Referenced by checkDataMotor(), and checkStateMotor().

int Actuators::AMC::Task::setRPM ( int  motor, int  rpm  )

inline

Send value of rpm to motor.

References m_csum, m_msg, and m_uart.

Referenced by setRpmValues(), and stopAllMotor().

void Actuators::AMC::Task::setRpmValues ( void  )

inline

Set rpm for all motors.

References Actuators::AMC::Arguments::ifactor_orientation, m_act, m_args, Actuators::AMC::Parser::m_motor, m_parse, Actuators::AMC::Arguments::motor_state, setRPM(), and Actuators::AMC::Parser::AMCMotorState::state.

Referenced by task().

void Actuators::AMC::Task::stopAllMotor ( void  )

inline

Stop all motors.

References m_args, Actuators::AMC::Arguments::motor_state, and setRPM().

Referenced by onResourceInitialization().

void Actuators::AMC::Task::task ( void  )

inline

Main loop.

References checkDataMotor(), checkStateMotor(), m_args, m_cnt_motor_check, Actuators::AMC::Parser::m_motor, m_parse, Actuators::AMC::Arguments::motor_state, setRpmValues(), and Actuators::AMC::Parser::AMCMotorState::state.

Member Data Documentation

double Actuators::AMC::Task::m_act[c_numb_motor_id]

Values for motors.

Referenced by consume(), and setRpmValues().

IMC::Current Actuators::AMC::Task::m_amp[c_max_motors]

Current message.

Referenced by dispatchAllData(), and onEntityReservation().

Arguments Actuators::AMC::Task::m_args

Task arguments.

Referenced by checkStateMotor(), dispatchAllData(), onEntityReservation(), onResourceAcquisition(), setRpmValues(), stopAllMotor(), Task(), and task().

uint8_t Actuators::AMC::Task::m_buffer[c_max_buffer]

Scratch buffer.

Referenced by checkSerialPort().

uint8_t Actuators::AMC::Task::m_cnt_motor

Counter stage id motor.

Referenced by onResourceInitialization().

Time::Counter<float> Actuators::AMC::Task::m_cnt_motor_check

state time to check state of motors

Referenced by onResourceInitialization(), and task().

uint8_t Actuators::AMC::Task::m_csum[c_max_csum]

CSUM value.

Referenced by readParameterAMC(), and setRPM().

uint8_t Actuators::AMC::Task::m_fail_uart

count for fail rx uart

Referenced by checkStateMotor(), and onResourceInitialization().

char Actuators::AMC::Task::m_msg[c_max_buffer]

Buffer for message received.

Referenced by readParameterAMC(), and setRPM().

Parser* Actuators::AMC::Task::m_parse

Parser for message.

Referenced by checkDataMotor(), checkSerialPort(), checkStateMotor(), dispatchAllData(), onResourceInitialization(), onResourceRelease(), setRpmValues(), and task().

Poll Actuators::AMC::Task::m_poll

I/O Multiplexer.

Referenced by checkDataMotor(), checkSerialPort(), checkStateMotor(), onResourceInitialization(), and onResourceRelease().

IMC::Rpm Actuators::AMC::Task::m_rpm[c_max_motors]

Rpm message.

Referenced by dispatchAllData(), and onEntityReservation().

IMC::Temperature Actuators::AMC::Task::m_tmp[c_max_motors]

Temperature message.

Referenced by dispatchAllData(), and onEntityReservation().

double Actuators::AMC::Task::m_tstamp

Read timestamp.

Referenced by checkSerialPort(), and dispatchAllData().

SerialPort* Actuators::AMC::Task::m_uart

Serial port device.

Referenced by checkDataMotor(), checkSerialPort(), onResourceAcquisition(), onResourceInitialization(), onResourceRelease(), readParameterAMC(), and setRPM().

IMC::Voltage Actuators::AMC::Task::m_volt[c_max_motors]

Voltage message.

Referenced by dispatchAllData(), and onEntityReservation().

Collaboration diagram for Actuators::AMC::Task: