Actuators::SCRT::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onEntityReservation (void)
void	onEntityResolution (void)
void	onResourceRelease (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	onReportEntityState (void)
void	consume (const IMC::SetServoPosition *msg)
void	consume (const IMC::Voltage *msg)
void	actuateServo (unsigned nr, double value)
void	setLeakStatus (int idx, bool leak)
void	enableServo (unsigned i)
void	disableServo (unsigned i)
void	onCommand (uint8_t cmd, const uint8_t *data, int data_size)
void	onVersion (unsigned major, unsigned minor, unsigned patch)
bool	waitForCommand (uint8_t code)
void	task (void)

Public Attributes
IMC::Voltage	m_volt
IMC::Current	m_ampg [4]
IMC::Temperature	m_temp
IMC::EntityState	m_leaks [2]
uint16_t	m_servo_ref [c_servo_count]
LUCL::Protocol	m_proto
int	m_hw_major
Counter< double >	m_last_adc
Arguments	m_args
float	m_last_ref [c_servo_count]
float	m_last_timestamp [c_servo_count]
unsigned	m_pos_id [c_servo_count]
float	m_set_position [c_servo_count]

Constructor & Destructor Documentation

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

inline

References Actuators::SCRT::Arguments::adc_conv, Actuators::SCRT::Arguments::adc_sper, Actuators::SCRT::Arguments::elabel_ampg, Actuators::SCRT::Arguments::elabel_leak, Actuators::SCRT::Arguments::elabel_posi, Actuators::SCRT::Arguments::elabel_temp, Actuators::SCRT::Arguments::elabel_volt, Actuators::SCRT::Arguments::leaks, Actuators::SCRT::Arguments::limit_servo_rate, m_args, Actuators::SCRT::Arguments::ref_volt, Actuators::SCRT::Arguments::servo_max, Actuators::SCRT::Arguments::servo_middle, Actuators::SCRT::Arguments::servo_min, Actuators::SCRT::Arguments::servo_orient, Actuators::SCRT::Arguments::servo_rate_max, Actuators::SCRT::Arguments::servo_renumbering, and Actuators::SCRT::Arguments::uart_dev.

Member Function Documentation

void Actuators::SCRT::Task::actuateServo ( unsigned  nr, double  value  )

inline

References m_set_position.

Referenced by consume(), and onResourceInitialization().

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

inline

References actuateServo().

void Actuators::SCRT::Task::consume ( const IMC::Voltage *  msg )

inline

References m_pos_id.

void Actuators::SCRT::Task::disableServo ( unsigned  i )

inline

void Actuators::SCRT::Task::enableServo ( unsigned  i )

inline

Referenced by onResourceInitialization().

void Actuators::SCRT::Task::onCommand ( uint8_t  cmd, const uint8_t *  data, int  data_size  )

inline

References Actuators::SCRT::Arguments::adc_conv, Actuators::SCRT::CMD_STATE, Actuators::SCRT::Arguments::leaks, m_ampg, m_args, m_hw_major, m_temp, m_volt, Actuators::SCRT::Arguments::ref_volt, and setLeakStatus().

Referenced by waitForCommand().

void Actuators::SCRT::Task::onEntityReservation ( void  )

inline

References Actuators::SCRT::Arguments::elabel_ampg, Actuators::SCRT::Arguments::elabel_leak, Actuators::SCRT::Arguments::elabel_temp, Actuators::SCRT::Arguments::elabel_volt, Actuators::SCRT::Arguments::leaks, m_ampg, m_args, m_leaks, m_temp, and m_volt.

void Actuators::SCRT::Task::onEntityResolution ( void  )

inline

References Actuators::SCRT::Arguments::elabel_posi, m_args, and m_pos_id.

void Actuators::SCRT::Task::onReportEntityState ( void  )

inline

References Actuators::SCRT::Arguments::leaks, m_args, and m_leaks.

void Actuators::SCRT::Task::onResourceAcquisition ( void  )

inline

References m_args, m_proto, and Actuators::SCRT::Arguments::uart_dev.

void Actuators::SCRT::Task::onResourceInitialization ( void  )

inline

References actuateServo(), and enableServo().

void Actuators::SCRT::Task::onResourceRelease ( void  )

inline

void Actuators::SCRT::Task::onUpdateParameters ( void  )

inline

References Actuators::SCRT::Arguments::adc_sper, m_args, m_last_adc, m_last_ref, m_last_timestamp, m_servo_ref, Actuators::SCRT::Arguments::servo_max, Actuators::SCRT::Arguments::servo_middle, Actuators::SCRT::Arguments::servo_min, Actuators::SCRT::Arguments::servo_rate_max, and DUNE::Time::Counter< T >::setTop().

void Actuators::SCRT::Task::onVersion ( unsigned  major, unsigned  minor, unsigned  patch  )

inline

References m_hw_major.

Referenced by waitForCommand().

void Actuators::SCRT::Task::setLeakStatus ( int  idx, bool  leak  )

inline

References m_leaks.

Referenced by onCommand().

void Actuators::SCRT::Task::task ( void  )

inline

References Actuators::SCRT::CMD_SERVO_SET, Actuators::SCRT::CMD_STATE, Actuators::SCRT::Arguments::limit_servo_rate, m_args, m_last_adc, m_last_ref, m_last_timestamp, m_proto, m_servo_ref, m_set_position, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), Actuators::SCRT::Arguments::servo_max, Actuators::SCRT::Arguments::servo_middle, Actuators::SCRT::Arguments::servo_min, Actuators::SCRT::Arguments::servo_orient, Actuators::SCRT::Arguments::servo_rate_max, Actuators::SCRT::Arguments::servo_renumbering, DUNE::Math::trimValue(), and waitForCommand().

bool Actuators::SCRT::Task::waitForCommand ( uint8_t  code )

inline

References m_proto, onCommand(), and onVersion().

Referenced by task().

Member Data Documentation

IMC::Current Actuators::SCRT::Task::m_ampg[4]

Current sensor messages.

Referenced by onCommand(), and onEntityReservation().

Arguments Actuators::SCRT::Task::m_args

Task arguments.

Referenced by onCommand(), onEntityReservation(), onEntityResolution(), onReportEntityState(), onResourceAcquisition(), onUpdateParameters(), Task(), and task().

int Actuators::SCRT::Task::m_hw_major

Hardware major.

Referenced by onCommand(), and onVersion().

Counter<double> Actuators::SCRT::Task::m_last_adc

Last ADC sampling.

Referenced by onUpdateParameters(), and task().

float Actuators::SCRT::Task::m_last_ref[c_servo_count]

Servo's previous set reference (needed for angular rate limitation)

Referenced by onUpdateParameters(), and task().

float Actuators::SCRT::Task::m_last_timestamp[c_servo_count]

Servo's previous set reference's time (needed for angular rate limitation)

Referenced by onUpdateParameters(), and task().

IMC::EntityState Actuators::SCRT::Task::m_leaks[2]

Leak detection.

Referenced by onEntityReservation(), onReportEntityState(), and setLeakStatus().

unsigned Actuators::SCRT::Task::m_pos_id[c_servo_count]

Servo's position voltage signal.

Referenced by consume(), and onEntityResolution().

LUCL::Protocol Actuators::SCRT::Task::m_proto

Device protocol handler.

Referenced by onResourceAcquisition(), task(), and waitForCommand().

uint16_t Actuators::SCRT::Task::m_servo_ref[c_servo_count]

Servo references.

Referenced by onUpdateParameters(), and task().

float Actuators::SCRT::Task::m_set_position[c_servo_count]

Servo's set position received in the IMC messages.

Referenced by actuateServo(), and task().

IMC::Temperature Actuators::SCRT::Task::m_temp

Temperature sensor message.

Referenced by onCommand(), and onEntityReservation().

IMC::Voltage Actuators::SCRT::Task::m_volt

Voltage sensor message.

Referenced by onCommand(), and onEntityReservation().

Collaboration diagram for Actuators::SCRT::Task: